H Drive questions

[Ether]

Originally Posted by Ginger Power

Sorry should have thought about it more:
We had a 16 tooth pulley mounted on the output shaft of the toughbox and a 48 tooth pulley on the omni wheel driven by a belt. Yes it was a standard gear ratio. We used a 6" aluminum dualie omni wheel from Andymark. Most of the decisions we made were based on material availability because we had very limited resources. All of our components were generously provided by 4607, just a third year team. We did some testing with the scoring platform, but it didn't take much testing to figure out our configuration wouldn't work. We used 4" omni wheels on the AM14U2 and only had about a half inch of ground clearence. The frame would get caught up on the scoring platform even at full speed.

I hope this clarifies things a bit. If I forgot anything please let me know!

Here's what I think you are saying:

- you used a 6" omni for the center strafing wheel, and 4" omnis for the corners?

- the 6" center omni had a total speed reduction of 12.75*(48/16)=38.25:1?

- so the rotary free speed of the center 6" omni would be 5310/38.25=138.8 RPM (ignoring losses)?

- so the linear free speed of the center 6" omni would be (138.8/60)*(2*pi)*(6/2/12) = 3.63 fps (ignoring losses)?

Am I reading that right?