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3 Choices - Hurt Carpet, Motors or Wheels
Posted by Raul at 1/23/2001 6:59 PM EST
Engineer on team #111, Wildstang, from Rolling Meadows & Wheeling HS and Motorola. In Reply to: Sharp Wheels Posted by Josh Vetter on 1/23/2001 12:04 PM EST: Consider the scenario where your robot is prevented from moving by an unmovable object such as a wall. But in our case, it will most likely be the robot trying to pull too much weight up a ramp (such as a stretcher with a robot on it). From experiments and experience, the way I see it, your wheel design will lead to 1 of 3 things: 1) You get great traction; so much so that your wheels never spin freely and your motor stalls. That will either burn out your motor or trip a fuse. 2) Your wheels spin freely and they are made of a material that rips away. This happened to us quite often when we used the wheel chair wheels. We went through many spare wheels that year. 3) Your wheels spin freely and they are made of some hard material with sharp edges and thus they rip up the carpet. OR, they are made of a hard material with no sharp edges and you burn the fibers of the carpet. We have experienced all three scenarios above. We usually settled on #2 or #1. The most tempting solution is #1 using a wheel material that is either very sticky or digs in with sharp edges so your wheels never spin. BUT, you must gear your speed down so that you have enough torque to overcome any load condition under game conditions. This is more predictable this year because at least you do not have to get into a pushing match with other robots (at least I hope no one does). However, be aware that if you do use sharp edges as a way to get great traction , FIRST will likely ask you to do the carpet test. I believe that means running your robot against a wall. So in that case you have to make sure that you have so much traction that it will just stall your motors. I think TKO had this configuration with their tank treads in 99. Raul : I am on a rookie team this year, and we are trying to provide our robot with more traction to pull the goals onto the bridge. In addidition to doing four-wheel drive, we are thinking of making some wheels out of metal, which would be similar to a gear, but with points. Would this be allowed, or would FIRST dq it because it could damage the carpet? : Any other ideas to get more traction would be appreciated too! |
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