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Unread 09-01-2009, 09:33
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Tom Line Tom Line is offline
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FRC #1718 (The Fighting Pi)
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Re: tank drive in this years game

Theoretically, crab drive will give you an advantage.

Skid Steer is just that - skidding your wheels. Which, as we all know, takes a substantial hit in the friction depart. Theoretically.

The crab drive's advantage is threefold:

One, you do not skid the wheels when turning.
Two, you do not need to impart angular momentum to your robot to turn. In fact, if you drive in the direction you want to go, the trailer will help turn your bot for you.
Three, you can turn your wheels sideways. According to the theoreticals, the sideways friction is much higher than the linear. So, again theoretically, a tank drive robot trying to push a crab robot will not be able to if the crab turns his wheels sideways.

In the past, we were always limited by torque. Now we're limited by friction. However, the weight of crab may be an issue for many teams less familiar with it (like ours). You're going to need a good deal of manipulation on your robot - pickup, accumulation, release... those probably won't be lightweight.
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