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Unread 31-12-2010, 15:53
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Re: Hypothetical Situation - Stairs

Quote:
Originally Posted by JesseK View Post
Along the WEGS idea, yet without linkages, something that uses this wheel pod design would probably be more suited to the capabilities of FRC teams while still providing the robustness seen on an FRC field:
.

Advanced teams could do a coaxial dog gear design for each pod that drove the pod's legs versus the pod's wheels. Novice teams could drive the wheels with 2 total CIMS and the legs with 2 separate CIMS (not ideal or perfect, agreed, yet still feasible to climb stairs).

"Caution: the moving walkway is ending"
A team used them in 2004, 1218.

The external wheels and the entire hub are actually driven together, I believe the ratio is calculated such that when the wheels are stalled, the entire assembly rotates.