Quote:
Originally Posted by Alan Anderson
I believe you misread the question. It was about 6WD vs 4WD with traction wheels as opposed to omniwheels.
Kevin's answer is a good one. As long as the corner wheels are in the same place in both systems, a coplanar six-wheel drivebase should indeed turn more easily.
Luke's comment about tread wear brings up an interesting detail. The corner wheels of a six-wheel system will see more wear than the center wheels as they scrub sideways during a turn. That will eventually result in the equivalent of lowering the center wheel a teeny bit, since its tread will be fractionally thicker, and it will turn even more easily -- at least until the corner treads are replaced.
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I guess I'm just not explaining myself well here
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My initial response to AdamHeard was about his agreeing with Kevin that you would get more traction from a 6WD with traction tire setup over a 4WD with traction tire setup. Assuming that both setups would use the same tires and were the same weight, then both would (Theoretically) have the same CoF.
Kevins comments about being able to turn better are a function of wheelbase and not traction or CoF. Because of this I commented on shortening the wheelbase of a 4WD system would (by driving 36" wide rather than 36" long), in effect, create an equivelent wheelbase on a 4WD robot, and thus the same turning advantage of the 6WD system.
Lukes comment about wear is interesting ... but it does not create more traction. It will allow for easier turning as the corner wheels wear because the robot will "rock" on the shorter wheelbase (center wheels to 1 set of end wheels). Traction will stay the same, as will pushing force.