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Unread 03-07-2008, 17:46
=Martin=Taylor= =Martin=Taylor= is offline
run the trap!!!
FRC #0100 (The Wild Hat Society)
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Re: 6WD Chassis Stiffness vs. Maneuverability

I'm not too good with numbers, but I've built a lot of prototypes....

I've discovered one important thing. The closer the traction wheels are oriented into a square the better the robot turns.

This is why 4 WD robots in the "long" configuration turn horribly. Because the wheels are in more of a rectangle than a square.

Many teams have solved this problem by adding another set of wheels in the center to essentially make their robot into two 4WD trains. As the robot tips back and forth the wheels remain in a square (all six are never touching the ground). I believe this is why 254 is so speedy.

Another way to correct this problem is to place two omni wheels on one end of the robot. Since the omni wheels offer no side-friction, the robot will turn just like a 4WD machine with all four wheels in the back of the robot.



We've always built robots with the rocking syle drive train.... and then gone back latter and added omni wheels
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