Increasing the spacing between the wheels should improve steering stability. Perhaps if they were outboard of the gearboxes things would improve enough to become usable. With a bit more adjustment, this could also be used to lower the CoG of the module even farther, though with an increase in MoI around the serve axis and a need for more real estate for the module.
Quote:
Originally Posted by carpedav000
If you didn't wamt steering motors on the modules, couldn't you just put a gearbox in the middle and belt-drive it to each module? Saves motors and weight.
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If I understand correctly, that would be crab drive, not swerve. Crab allows you to translate anywhere, but not rotate the robot effectively.