Quote:
Originally Posted by nitsua60
<R06> Seems to create a problem with any type of steered wheel this year: if the axis of rotation of the wheel has to be parallel to the ground, then you can't rotate the wheel about a vertical diameter, as you typically would while steering. However, according to the rule you could rotate the wheel about a horizontal diameter and make use of the higher transverse coefficient of friction do propel the bot. I hope we see some clarification of <R06>.
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As i interpret this rule the key part is
Quote:
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Originally Posted by <R06>
The ROVER WHEELS must be used in a “normal” orientation (i.e. with the tread of the wheel in contact with the ground, with the axis of rotation parallel to the ground and penetrating the wheel hub).
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The axis i believe they're referring to is the axle. So then I interpret it as saying the wheel must remain vertical, relative to the ground, but doesn't necessarily need to maintain its orientation relative to the robot chassis.
I could be misinterpreting this, so if it a serious issue for your design it would be best to contact FIRST for clarification.