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Unread 26-03-2004, 19:50
Alex1072 Alex1072 is offline
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Re: 2 truck drive train

If you only have one wheel, the you run into the problem of having to control motor outputs to go straight. I think I might not be understanding what you're saying though.


EDIT: I get it now. There is no inner/outer wheel speed problem because each truck has a differential in the gear box. Having the 2 wheels makes it so that there is no weight on the castors normally. With 2 wheels the castors are only used when you the angles of the trucks get too close to 90 degrees from the robot frame.

BTW I made slight mistake with that ASCII diagram:


the turn in place would look like this:

|
|

|
|


with castors on the left and right for support
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Last edited by Alex1072 : 26-03-2004 at 19:52.
 


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