09-12-2016, 12:30
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no bag, vex only, final destination
AKA: Pinecone
 FRC #0228 (GUS Robotics); FRC #2170 (Titanium Tomahawks) Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2006
Location: Glastonbury, CT
Posts: 7,601
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Re: pic: Holo
Quote:
Originally Posted by GeeTwo
With the upper frame as well as the lower, it looks quite stiff for a 4-wheel holonomic drive. This may cause you some unusual behavior on uneven ground, with the weight being on two or three wheels. The cantilevered wheels may provide a bit of suspension to compensate for slight irregularities like a plate under the carpet, but probably not something larger. If you plan to drive on carpet on solid floor, again, not a concern.
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I've heard this stated many times over the years, and it intuitively makes sense, and I believe(d) it. And then in 2015 my team built a mecanum WCD with a super rigid metal frame, that drove over obstacles and ramps without really any problem. A good gyro and good software, which you already want if you're pursuing this kind of drive, should help compensate for varying loads on different wheels, and if you built the chassis square enough, all wheels should touch the ground on a flat floor.
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