Quote:
Originally Posted by Cash4587
Although this is a cool idea and looks interesting it probably is not very practical. In most cases it would make the most sense to just do a 3 wheel kiwi..
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Yes. The great advantage of 3 wheels is the relative insensitivity to irregularities in the drive surface. Unless you reach really high angles or high center on at least one side, all three wheels will carry a share of the robot weight, enabling the vector drive forces to add up as intended. With six wheels, it is rather easy for some of the wheels to come off the floor, sending the net drive force in unintended directions.
Quote:
Originally Posted by asid61
That might be a tad fast even for 6 CIMs, because of brownouts.
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For brownout/gear ratio purposes, this is
not the same as a 6 CIM skid/swerve. If you're driving parallel to two of the wheel axles, two of the CIMs do not contribute to the drive at all, and the other four are reduced about 13%. If you're driving perpendicular to two of the wheel axles, two CIMs are fully engaged and four are limited to about half contribution. Due to different efficiencies at different speeds and that you're drving different motors at different levels, things will get more complicated quickly. With a holonomic drive train, you should be more concerned about avoiding or escaping pushing contests than about winning them.