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Unread 28-04-2004, 13:34
Marc P. Marc P. is offline
I fix stuff.
AKA: βetamarc
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Re: Making your robot drive easier

38 used a 6 wheel drive system for the first time this year. I think we used 6" pneumatic skyway wheels, the middle pair about 3/16" lower than the other two. Last year we used 8" pneumatic tires in a 4 wheel drive setup, and danced and hobbled more than we turned... too much lateral friction.

I think one advantage of a 6 wheel system is to have the weight of the robot pivot about an axis in the middle, rather than distribute it to all 4 wheels in contact with the ground at the extremes of the chasis. It seems to help quite a bit with traction, while keeping a low enough cof to turn without dancing. It's sort of cool watching it turn- if you drive one side and leave the other idling, the robot will pivot perfectly about the undriven side's center wheel. This compared to our 4 wheel system, where if one side is drive, the robot will coast in one direction, rather than pivot.

I have to say though, I love 25's entire drive- no chain! Gears the whole way through, to all 6 wheels!