Quote:
|
Originally Posted by Jonathan Norris
Another beautiful design from the Xbot team, I also love how compact it is. I have a few questions, why do you use omni wheels for the front and back?? (it will help you turn better, but the traditional 6-wheel design turns just fine) Also, what are the extra two sprockets on the front omni wheel for?
|
We ran omniwheels on the corners last season (
http://www.chiefdelphi.com/media/photos/23578) with good success. It's true that there's a bit less resistance to being spun around on the field, but that wasn't a challenge we faced because our robot didn't rely on being in a single spot to score accurately. I don't think this method is any better or worse than lowering the center wheel or using a single pair of omniwheels -- it's just different. My strategy and, subsequently, my design assumes that if you've gotten yourself into a pushing match during a FIRST match, you've done something wrong.
The large sprocket on the rightmost wheel is driven by the chain coming from the gearbox. The other two sprockets on the wheel each drive one of the two remaining wheels. This'll allow us to move each wheel independently of the others to properly tension the chain.