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#22
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Re: 6WD Chassis Stiffness vs. Maneuverability
Here are some "tilt table" pics. By balancing the robot, the CG appears to be about 12 inches off of the floor centered side to side and for-aft. I measured this with the Ball in which adds about 7 lbs. 26 inches off of ground-line thus moving the CG up and forward a bit.
The math on this is pretty simple trig. Balancing the robot on various edges will give you planes that the CG is along. The intersections of these planes will then show where you CG is. The assumption there is that the "robot" is a rigid body and there are no large shifts in weight (i.e. fluids in a tank, or arms that flop around). |
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