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Unread 06-11-2003, 12:29
Andrew Andrew is offline
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As to the comment that four driven wheels gives more things to fail and hence is less reliable than a two driven wheel system, it depends on how you do it.

If you drive all wheels (and nobody has talked about six driven wheels on the floor!), then you have a more reliable system. If one drive motor fails, you still have a redundant motor giving you some drivability.

If you have six driven wheels on the floor, you have a double redundancy.

(Note: you can only effectively have six wheels on the floor if you use a suspension.)

Depending on the game, you may want to have low side slip, such as a four driven wheel system gives you. In a pushing contest, an easy to turn robot (two driven wheels + casters) can be turned easily by an opponent. Two wheels + casters also has a harder time maneuvering on a hill once it gets turned a little sideways.

A third alternative is two driven rear wheels + steerable front wheels. (Actually, last year, team 16 had two driven front wheels and a steerable back wheel, same principle.) This gives the advantage of steerability with the advantage of hard to rotate against your will. However, it requires a steering design + control of the steering system.

There are so many options and trade-offs in drive system design that the best approach is to leave everything on the table and figure out what is best for the game.

That having been said, if pushing is a significant part of the game, then six driven wheels with a suspension and the ability to redirect weight will win everytime.
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