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Unread 09-16-2002, 08:24 PM
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Our robot had an intriguing design. To ease zero radius turns, we had only two drive-wheels mounted in the center of the robot and had castors on the front and back. Most of the weigh was centered low around the chasis plate and the battery was the lowest point on our robot (beside the wheels) which lowered the center of gravity substantially. The wheels were powered by two drill motors and a 200:1 gear / chain reduction. Thus, to keep the weight on the wheels, we just balanced the wheels. However, I do suspect that if we had used more drive wheels, we could have gotten more traction, which always helps, but we wanted to tread lightly on the carpet.