Quote:
Originally Posted by dtengineering
One thing to watch for when designing the robot is turning ability when using skid steering (tank drive).
If you notice the coefficients of friction for the wheels, you will see that inline dynamic is .05 while transverse dynamic is .10. In a skidding situation the wheel will be twice as resistant to going sideways as it is to going forwards....
That means, as I read it, that your wheel is not going to want to slide sideways very easily if you use 4wd tank drive.
In fact anyone planning on going with skid steering will probably want to really look at using at least six wheels to minimize the amount of skidding required in a turn.
Jason
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It may be even worse than it first appears. Unless you've already broken traction, skid steering has to overcome what could be as high as the static transverse friction (if you want to turn as you are starting out). At first glance it appears 6 wheel drive raised center is the way to go for skid steering (whether tank mode or joystick mode on the controls). Also the abnormally high differences between static and dynamic coefficients is probably worth a bit more analysis. In past years static vs. dynamic and inline versus transverse were relatively minor differences that could often be more or less ignored. Not so this year. Don't count on being able to control the bot until you do the math
