Quote:
Originally Posted by joeweber
I am not sure exactly what you are saying far as bottoming out. When we build the robot base it would be secured the length of the rods which are tubes. The base will most likely cover the whole empty area between the drives. We are using tubes (which we may increase the size) so we can slide the bumper bolts into the tubes and than slide pins into them to hold.
http://www.team1322.org/ideas.htm for a side view of the suspension. |
Rather than increase the size of the tubes, you could also rivet lightweight honeycombed fiberglass or 1/16" sheet aluminum to the bottom, or 6" strips of either. It will greatly increase the rigidity of the two frame segments while also leaving the flex you want for suspension should the tubes not be enough.
This control system is straight up intriguing. The matlab plots are all obscured when the normal unit vector controls are put on it, though I may have the omni wheel's equation incorrect. I hope this succeeds; it will be as fascinating as 'twitch' drive to figure out.