Thread: Coaxial crab stalling
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Unread 13-12-2003, 22:11
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Re: Coaxial crab stalling
[quote]
Quote:
Originally Posted by Swampdude
Therefore the torque output of the steering system must be greater than the output of the drive system to counteract this imposed rotational force.

This drive force would be constant against the steering system, causing a range of misalignment depending on the wheel resistance. If the bot were pinned, and the throttle was pegged, the 4 wheel modules would be spinning around like tops. The only way I saw to overcome this would be to build a low ratio globe gearbox. Which will have a very low rpm = slow steering.
I see what you mean now. But even if you gear the globe motors down to overcome the drive torque, every time you accelerate, it will put a variable torque on the steering and cause oscillations on the steering feedback system.

Raul
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Warning: this reply is just an approximation of what I meant to convey - engineers cannot possibly use just written words to express what they are thinking.