Quote:
Originally Posted by TimTheGreat
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Ok got it.
The fact that this is a prefab gearbox makes changing things a little more problematic.
So, AM says that the center is lowered by 0.13" I would probably go more in the case of pnuematic tires but you might be able to get by with it if you inflate the middle tire to the high end of the allowed range and have the front and back inflated to the low end. This will effectively make the middle tire a slightly large diameter which can help you get some rock into the robot.
Another problem that could be causing you problems is that you have 2 CIMs per side all the wheels and CIMs are not connected to each other. The front (or the rear depending on how you mounted them) is driven by one CIM and the rear & middle (or front & middle depending again) are driven by the other CIM.
If you actually get enough rock in the robot, then if your CG is such that your robot has the rear and middle wheels on the ground, then the front wheel is in the air. Where is all the power from that front CIM going? Nowhere, that's where.
You really want to sync up all those wheels. You mentioned a chain in another post. I hope that means you have a chain that is doing that sync function.
Next problem. JVN's spreadsheet says that with a 1 CoF, 2CIMs, 12.75:1 and an 8 inch wheel, your top speed is 14.5fps (11.8fps derated) and 84Amps per CIM in pushing match. This is not going to make your breakers happy my man. No sir.
I am strongly asking you to get yourselves more ratio or less grip.
Dr. Joe J.