Quote:
Originally Posted by EricH
Clockwise, O contact pattern on the ground, lines are vectors in a clockwise turn, arrows are vertical component of the vector:
\../ (^v)
/..\ (^v)
Clockwise, X contact pattern on the ground, lines are vectors in a clockwise turn, arrows are vertical component of the vector:
/..\ (^v)
\../ (^v)
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Eric,
The problem is not with the vertical components of the vectors but rather with the horizontal. Also, I think that what I call "X" and what you call "X" are different.
So, using your notation:
Orientation of torque vectors - Vertical components - Horizontal Components
What I called "O":
/..\ (^v)(>>)
\../ (^v)(<<)
No problem here. The vertical components want the robot to turn CW, and so do the horizontal.
What I called "X":
\../ (^v) (<<)
/..\ (^v) (>>)
Problem! The vertical components want to turn CW, while the horizontal components want to turn CCW. The two cancel each other out as long as the roller friction is negligible.