Quote:
Originally Posted by Nemo
Having just seen this drive move, I really like what it can do. The mecanum half is very fast and smooth, and I really like the slightly faster gearing as compared to your 2010 and 2011 drives. It switches to traction mode quickly and smoothly and looks terrific going up a ramp.
The question I had was "How are you getting the Colson wheels to move in an arc using cylinders that are pushing in a straight line?" The answer made sense but was simpler than I expected.
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The cylinders are perpendicular to the centerline between the two mecanum wheels. The bracket which moves the Colson wheels swings on an arc which is centered above and below the mecanum centerline. The cylinder is positioned at the midpoint of this arc to minimize the error and then the bracket holes are oversized slightly to accomodate the error.
I am committed to this program because I know it works. It gets more students (than the school average) into college, it makes better adults of the students we mentor, it makes better employees of the mentors that participate, and it makes better schools in our communities. - Al Skierkiewicz [more] 
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