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Unread 31-05-2005, 12:05
Dave.Norton Dave.Norton is offline
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Join Date: Apr 2005
Location: Boulder, CO
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Re: Most Impressive/Advanced/Unique/Cool drivetrain you've ever seen

Hi;

Couple of questions for you; why the 82 degrees (I have some ideas, by why speculate)? The second is how did you control it? We went with an orthogonal holonomic drive this year, but discovered the unfortunate fact that 3 points define a plane, but 4 are over-constrained. Which is to say every time we hit an uneven spot in the floor whoever had the traction won and the robot went in that direction. We solved it in two ways, first added a yaw sensor so at least it knew what a straight line was, and then added a suspension so that all wheels maintained traction. This design looks even more interesting because it is inscribing arcs; at least ours was in a vector.

Thanks.