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Unread 22-09-2003, 11:14
FotoPlasma FotoPlasma is offline
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Quote:
Originally posted by Frank(Aflak)
What would work instead could be a wheel-switching mechanism (one wheel geared highs than the other, lower it using pneumatics). You could even give the computer control over that and turn it into an automatic.
Ahecht mentioned that 190 has done this, before, but I thought I'd add some pictures from 258's venture into this kind of system. This robot is from the 2002 season. The huge bolt through the 1x2" box aluminum acted as the pivot point, and the 2" bore, 4" (?) stroke pneumatic actuator did the shifting. If it's implemented properly, it can be a great method of shifting, but otherwise, it can be pretty bad. besides the driven wheels, we only used casters, and I must say, the casters didn't help. With a little off-the-cuff math ((550rpm/60s)*7in*pi), I calculate that we were going at, or a little under 16fps, in high-gear. Straight wheelchair wheels would have provided lots more control, I believe.

Also, speaking of a hybrid manual / automatic (for lack of a better way of putting it) shifting system, it sounds nicely challenging to develop a system (mechanical, electrical, and programming) which monitors current draw in the drive motors, and shifts accordingly. (I believe that 190 had this kind of system for their CVT, in 2001, but please correct me if I'm mistaken) Id est, starting in high-gear, get into a pushing match with someone, the system recognizes that you're drawing a lot of current on the drive motors, and shifts into low gear. You'd want to build in some hysteresis, so that it wouldn't go crazy at whatever you determined to be the threshold.

Just a couple thoughts, not sure if they're really applicable.
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