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Re: use of electrical sliprings
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Originally Posted by Al Skierkiewicz
To use Dave's baseball terminology, that was high and outside, batter swung anyway, strike one. Visualize what takes place when it drives and when the robot gets hit. Three dimensional thinking caps now.
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Well we have done 4 wheel steering also in the past, based on the picture I would either:
A. Make the pivot point on the top MUCH larger in diameter and make sure that it is beefy enough to support the side forces . The shaft that is holding the wheel needs to be captured on the outside of the vertical plates or it will most likely spread out on a side impact and your wheel will fall out. (Not that I have seen that happen or anything  , we ended up with a brace accross the gearbox at the bottom to hold it firmly together) Also in the pic if the vertical side plate starts to bend it would take off the engagement of the teeth on the CIM motor or it would push them together harder and start to bind
B. Mount a second ring just above the floor that spins in a holder connected to the chassis so that any lateral movement of the drive module is immediately transferred to the chassis instead of the rotating point of the drive module.
Is this what you are looking for Al?
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Robonaut Next Generation Control System Development
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Last edited by Matt Reiland : 05-04-2005 at 15:04.
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