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Unread 15-12-2009, 10:38
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FRC #1197 (Torbots)
Team Role: Engineer
 
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Re: crab drive vs. mecanum drive system

Quote:
Originally Posted by stj_1533 View Post
Leet,

I'm curious...any preference/pros/cons between the two 6wd versions? We've done 6wd with dual omnis in the corners twice before, never a dropped center.

- Steve
6WD flat has stability on its side. 6WD drop acts like a 4WD most of the time, but which end is the 4WD at any given time varies with robot motion. During a spin, or if the CG is somehow over the center wheels, it's common for it to act like a 2WD on the center wheels. The typical West Coast drivetrain is a 6WD drop.

The toughest part of designing a drop-center system is figuring out how far to drop the center. Depending on wheel choice, anywhere between 1/16" and about 1/4" has been used effectively.
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Past teams:
2003-2007: FRC0330 BeachBots
2008: FRC1135 Shmoebotics
2012: FRC4046 Schroedinger's Dragons

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