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Unread 22-02-2007, 23:01
Tom Bottiglieri Tom Bottiglieri is offline
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Re: Problems turning

Quote:
Originally Posted by Cody Carey View Post

Is it just that having the omnis on opposite corners woud decrease the force required to turn the robot, but not as much as the omnis on front of back would do? A little help would be greatly appreciated.

Yes.

While the second scenario you illustrated will get you closer to a "zero friction" turn, it also changes your turning radius from dead center in the robot to inside of the axis between your back two wheels.

Putting the omni's in opposite corners still gives you the problem of turning scrub, but it will significantly reduce the problem as half of your total weight is being distrbuted along wheels which experience little to no axial frictional force. For most situations, this should be enough to kill the bouncing robot problem. This also allows you to keep your 0 degree turn radius, and keep a solid wheel on the ground on each side of the bot at all times.

So really, its all up to driver experience and preference. I have been told that drivers who like to use one stick drive will be much better on a "power slide" bot (omnis on same side) and drivers who prefer two stick will be much better with a 0 degree turn radius.
 


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