|
Re: Robot refuses to turn!
A 6 wheel long robot WILL NOT TURN unless you drop the center wheel by 1/8" to 1/4" of an inch.
A skid steer, or tank drive, literally "drags" the front and rear wheels through a turn.
A wide orientation robot with 4 wheel drive will turn if geared around 9-10 fps. This wheel ratio of length to width is necessary to maintain if you want to be able to turn. That means when you go to 6 wheel drive you need 2 of those wheels off the floor to get the same length and width ratios that you have on the wide robot. Essentially by dropping the center wheel you'll be on the middle two wheels all the time, and then either the back or the front wheels depending on your center of gravity.
If you do not want to drop your middle wheels, then you can put a single omni in the front and in the back. If you are still having difficulty turning, you can dump the traction wheel for something with a little less side-traction, like the old skyways, a traction wheel with the tread worn smooth, or last year's ABS wheels.
|