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Unread 03-05-2011, 11:51
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Re: Offseason Project: Holonomic Kiwi Drive Robot

Quote:
Originally Posted by EthanMiller View Post
Every place I've seen Kiwi drive, the 'front' has been located directly between two wheels, that powering them towards each other at the same speed would be forward. Would having the forward be directly opposite that be a problem? (Such that two wheels powered away from each other was forward)
In the normal configuration for going forward the two front wheels are moving at the same speed, although the motors are rotating in opposite directions, while the third wheel is perpendicular to the direction of motion so is stationary. In effect the third, wheel is pulled sideways on the edge rollers. If you reverse the sense of forward, the math is basically the same but with the non-axial-rotating wheel now at the front of the robot.

The only issue is that the wheel which was pulled behind the robot is now being pushed in front of the robot. Since the radius of the rollers which are rotating is obviously very much smaller than the radius of the wheel, you now have a much lower tolerance for surface bumps or obstructions.
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