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Re: Mismatched wheels
Thanks for the replies, I have heard of teams with slightly mismatched wheels, but nothing as extreme as this. I thought about it a little more and realized that the slipping of the wheels will cause them to fight against each other badly. I made an excel spreadsheet that shows how traction varies as a function of the robot's CoM.
What confused me was that this arrangement really has no negative impact if the CoM stays directly over the center wheel at all times. However, as the robot tilts one way or the other, the wheels really start to fight each other, and if the CoM is in the perfectly wrong spot, the robot will only be able to provide (mu_s - mu_k)/2 times as much force as it's maximum.
Hopefully the excel spreadsheet makes sense, let me know if there are any questions.
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