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Re: Brakes
We have used dynamic braking for the past 3 years. There is a potentiometer mounted on each of the two final drive output shafts of our 4 wheel drive skid steer. When another robot pushes against ours the wheels begin to turn. When this movement is detected, the controller applies power to those wheels in the opposite direction to oppose the movement. The more needed, the more is applied. This gives us enough braking to lock the wheels. If another robot has the power and traction to move us with our wheels skidding, then they will win the pushing match.
In 2002 we had pneumatically applied brakes that worked great. There were two flat pads about the size of a playing card covered with rubber belting. The back of the robot and the movable goal we were latched on to was lifted off the carpet when these were applied. Nobody was able to move us that year.
Jay
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