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Re: What type of drive train is the most maneuverable?
I have read this white paper twice and I believe there is another factor to consider. The effective coefficient of friction in the lateral direction of a stationary tire is different (higher) than a tire that is slipping on the carpet.
We have had several successful skid steer robots with the wheelbase greater than the track width. These robots had large knobby pneumatic tires that were quite sticky. If the driver attempted to turn by energizing only the right side wheels and keep the left side stationary, the robot would not turn, as the white paper would suggest. If the operator pushed one stick forward and the other rearward with enough power to break the tires loose, the robot would turn. This was not a graceful turn, but worked well. This method requires the robot to have enough torque to break all wheels loose on carpet at the same time.
There is a good way to visualize this if you have ever driven on an icy road with a rear wheel drive vehicle. If you punch the accelerator and break the tires loose, the rear of the vehicle will move sideways as it slides down the crown of the road.
I cannot offer a formula to show this at this time, so I will have to leave the proof as an exercise for the reader.
Jay
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