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Unread 24-12-2003, 20:11
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FRC #0708 (Hatters Robotics)
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Re: What do you use for wheels?

There are good things to each type. OVer the past years, there were four types of wheels that I saw unique, each with its own downside.

First are omniwheels. These are good when you have a finite amount of space and want to go with a simple, two-wheel drive train. Omniwheels have more control than a castor would.

Next, think table saw. A team two years ago at the Philadelphia regional fabricated lexan wheels similar to a one-way saw blade. Advantage: Better traction so that one could not be pushed. Downside: The wheels tore up the carpet, a big problem last year. Robots have many a time been shut off because they are tearing up the carpet. So you have a 50/50 chance with those wheels. it really depends on the competition.

Next, tank treads. Our team used treads in 2002, and it helped us tremendously. Teh advantage: We used conveyor-type belts for our treads, and this gave us tremendous traction (think more surface area). Downside: We would get small nuts and bolts stuck in the treads and cause slippage. It did, however, lend itself to four-motor drive easier.

Lastly, pneumatic wheels. These are a good standby. Most of the time, they're effective. They come in the kit (cheap), the area touching the ground can be changed quickly, and, they provide a tiny bit of cushioning to the robot. Traction can be an issue if the pressure in the tire is off because of the rubber.

Our team had found that the other wheels do not work as well on inclines (usually a factor in the game), and on any smooth surfaces, like last year's lexan surfaces. You could try to add grooves, or modify the wheels however, but make sure your wheels are one solid piece. I would not recommend adding anythign to a wheel for traction, because whatever you add, if you spin your whells, can and will come off. Not pretty in-between rounds to scramble and change wheels.
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Tom Wexler
FIRST Volunteer Coordinator, SCH District and Championship - Newton Field
Mentor, Team 708 Hatters Robotics