little hint, i would advise never to do a 2wd setup with the wheels centered in the bot and 4 casters at the corners, why? because if you get tipped forward or backward at all you have no power going to the ground, reason #2 you have almost no resistance to turning so without some nifty programming and maybe a gyro it will be a pain to control.
If you do a 2wd put the driven wheels at one end of the robot, that makes it so if you tip you have twice the chance of having power to the ground than a 4 caster setup, this also uses the inertia of the robot to provide resistance to turning and results in a much more controllable setup.
I also suggest Omni wheels above casters, as when casters spin around they put unpredictable "whoop de doo's" into you motion.
Also you can power omni wheels to provide additional forward traction rather than wasting weight on dead wheels.
Quote:
Originally Posted by JVN
Two Words:
Normal Force.
-John
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An example of a 4wd 2 grippy 2 omni is our 2006 robot, search for any videos of IRI 2006 and our bots the fridge with the orange bumpers(which by the way is sick)