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Originally Posted by Andrew Schuetze
Our team wanted the build crab steer system for this year but we lacked the experience and pre-season work to pull it off and went with the AM omniwheels in a holonomic drive. It worked and we were proud of our accomomplishment but it lacked polish and a feedback system.
This summer, we are fortunate to have a young, dedicated to the students mentor who is working with a graduating senior and an freshman entering into 10th grade on a summer weekend project. That being the development of the desired crab-steer system.
The engineer has revived his early concept of having a dual wheel set-up for each crab unit. This will require a differencial but does allow for a tighter drive motor set up.
What kind of thoughts do you crab designers or just all around gearheads think of such a concept? Shouldn't require much larger turning forces plus it increases the traction even if not the doubling that might be expected from having twice the number of wheels on the floor.... |
Dual wheel doesn't automatically demand a differential. The wheels are fairly close so the speed difference is not that great. However, dual wheels do take up more horizontal space in each module and for that reason, they are rarely used. Cautions for double checking the side forces developed on the modules by drive (both forward and reverse) and by pushing from the side. These side forces (as viewed by the supporting structures) can be large enough to deform and damage the supporting mechanisms.