[adra]

After some discussions, we have decided to use a very simple suspension mechanism (by using 2 springs for each wheel) and beside get feedback of velocities of each wheels with a shaft reader (?) .
What we intend to do is that using suspensions will allow the wheels to touch the surface always. And also we want to arrange the velocities of wheels according to each other. Since weight distribution of frame will not unique, i am assuming that torque values will change and wheel velocities will not remain equal every time which is not supposed to be in order to go on a straight line for both forward and side motion.
Again i am assuming that motor rotation of a wheel which has higher torque on it, due to the weight, will lower.

1) At this point i have to be sure, is that assumption true?

Also we had some research on yaw rate sensor and considering limited time and cost, decided to use shaft reader sensors on 4 wheels; so that we will equalize the all 4 motor rotation to each other with the value of the lowest feedback. Overall velocity of the forklift will reduce but that will not be a problem.

2) Is it appropriate to use such a control and will it be efficient?

Finally, i also think that (although i am not sure myself and everyone says the opposite) even with a suspension system and on a flat surface, all wheels wont grab the ground at the same amount. I mean they will touch it allright but not with a same force. Although it affects in insignificant amount (which we are ready to sacrifise by the way) i need to ask again,

3) Will that cause any dissarrangement on wheel speeds even while all 4 motors are rotating with the same speed.



Since we are about to over these disscusions and start to built the base, we dont want to dissappoint later. And comments of people having history with mecanums, about these issues are having great importance to us.


THANK YOU..