H Drive

[GeeTwo]

Originally Posted by BenGuy

1st Answer: No, the robot was heavy enough that as soon as we dropped power to our system, the robot stopped, if we were going too fast that it might have slid, we just slammed the opposite direction for a split second which brought a dead stop.

2: We used it mainly as a lining up tool, but occasionally to actually move far distances across the field, and yes, it was very fast...

Thanks for the answers! By the way, the first and third renderings answered questions 3 and 4 better than your text. I had pictured the module rotating about 20 to 30 degrees to make contact with the floor; the actuality is more like 70 or 75. This greatly reduces the torque which must be applied to the module to achieve a given contact (and therefore traction) force.

Also, to put a new subthread about H-drives, or more particularly about omni wheels: The renderings shown here depict classical omnis with ~18 nearly cylindrical rollers per duallie wheel, which are available from both AndyMark and Vex, and probably others. AndyMark came out with a "Duraomni" wheel this year, which has eight longer, more (american) football shaped rollers for an integrated dualie. 3946 used two non-driven 6" idle omnis for Aerial Assist, and five 4" Duraomnis for Recycle Rush, but we didn't do anything that could serve as an "apples to apples" comparison. Did anyone do any comparison tests between the different types and is willing to share results?