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Unread 10-06-2014, 16:54
Greg Woelki's Avatar
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Re: The in-wheel swerve shifter!

Quote:
Originally Posted by asid61 View Post
So they need human input then? I swear I saw autoshifting versions.
I don't have time to look into autoshifting versions right now, but if there are hubs that shift by them selves at certain loads, then they wouldn't work very well even in a test drive train because they would shift under totally different loads than they would experience in this application. My back-of-the-hand estimation of the torque on a bike wheel in low gear puts it at dozens of ft lbs, much different than the maximum of 8.3ft lbs per wheel in a swerve drive on a 154lb robot with 4in, 1.3 coefficient of friction wheels. Additionally, even if it did shift at appropriate loads, the load on each wheel would be different not only in pushing matches and collisions, but also normally because of the robot's weight distribution and the different amounts of power each drive motor runs at during different maneuvers, so you would end up with modules in different gears sometimes.

Last edited by Greg Woelki : 10-06-2014 at 16:59. Reason: Grammar
 


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