Quote:
Originally Posted by The GarbageMan
My team has a turning problem and we are looking for a quick fix that we can do before the championship rounds begin. We have four wheel drive, one kit CIM and transmission per side, a very wide wheel base (all most as wide as the frame which is the max 46"); we are using four of the kit of parts wheels. We have geared the motors down considerable so that the robot moves at the same speed as a quick walk at full speed. We have decided that replacing two wheels with Omni wheels will be the easiest way to go so we ordered two 6" Omni-wheels rush delivery.
What I am wondering is if I can replace the two wheels that are in opposite corners. This way we will rotate around the center of mass and if we get hit from the side we won't slide as much as two Omni wheels on the front or back.
If anyone has tried to do this or knows if it will solve my turning problem I would love to know.
Thanks
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Max wheelbase is 38".
Putting omni's on the corners will do a little, but you will still be loading up your motors, and I don't know if it'll relieve your traction enough for the robot to turn freely. You are probably better putting Omni's on the front (pivoting on the back) or the back (pivoting on the front) depending on the strategy your team is trying to accomplish.
Without actually seeing the robot, I cannot help you much more.
Questions that need to be answered is:
How much is 'geared down considerably'? 12:1? 16:1?
Whats the coefficient of friction of the tires on carpet?
(Assuming skid steer) whats the distance center-to-center of your tires front-to-back?
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