Quote:
Originally Posted by Alex Chamberlin
Do you want a higher or lower ratio?
|
Good question. The way I showed the ratio, bigger is better.
WideBots can turn. NarrowBots have troubles.
The reason lowering the center wheel works so well on a 6WD robot is that it allows NarrowBots to pretend that they are WideBots (in a sense) because only the 4 front wheels or the 4 back wheels can be in contact with the ground at once SO the ratio is approximately doubled (the top stays the same, the bottom is halved).
Careful readers will notice something and be worried (possibly). In order for this to work you have to actually get a set of wheels off the ground (or at least unloaded). With pneumatic wheels and uneven floors the assumption that lowering the center axles 1/8" is going to be enough may not be such a great assumption. It also means you are going to have to pay attention to the pressure in your tires -- you can easily make a great turning robot into a dog by allowing the pressure in the center tires to go down a bit.
Think about it.
YMMV.
Dr. Joe J.