Tiny wheel

[T^2]

Originally Posted by BBray_T1296

If you were only just calculating straight static friction, wheel diameter and even wheel number has zero effect, because while you are increasing contact surface area, you decrease weight per unit surface area in a 1:1 fashion. All that matters in that calculation is coef of friction and weight of robot (f=mu*N)

This is incorrect in FRC (and the real world). As has been stated on CD multiple times in the past, contact patch has a large effect on apparent CoF.

[Chris Endres]

Smaller wheels, around 2" diameter, are a gamble. As stated before, they are a bit sketchy with robot weight. But, I have tried to start a swerve design with 2-2.5" wheels. Using smaller wheels on swerve can expand and limit your choices on how you can effectively use weight and room on your robot. I can't really think of how you can effectively, or efficiently, use <2.75" on an extrusion frame drive base.