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#4
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Many factors...
Posted by Joe Johnson at 1/18/2001 9:27 PM EST
Engineer on team #47, Chief Delphi, from Pontiac Central High School and Delphi Automotive Systems. In Reply to: need a general opinion from all you experts... Posted by Anton Abaya on 1/18/2001 1:31 AM EST: 2 wheel drive vs 4 wheel drive this is a complex issue as we have already discussed on this web site. There are a lot of factors. Basically, it comes down to keeping weight on the drive wheels. When you are pulling a load up hill there are two things working to take weight off the front wheels. First the fact that the line between the center of gravity and the center of the earth passes closer to the rear wheels. This means that the rear wheels get more of the weight and the front wheels get less. Second, assuming a pivoting hitch for pulling, the pulling force from hitch tends to rotate the robot about the contact point of the rear wheels (making the robot pop a wheelie). This tendency to pop a wheeling takes even more weight off the front wheels. So... Can a 2WD machine pull a goal up the hill? Yes, but it will have a better time if the drive wheels are in the back and if the hitch point is high enough to put "enough" extra weight on the drive wheels without being too high so that the robot flips itself over. Finally, the grip to the ground plays a key role as well. Make sure you have drive wheels that have good friction properties with the carpet. Good luck, Joe J. P.S. One more thing, a 2WD robot may have some trouble if it "over balances" on the bridge and has to back up over the ramp. Now it will have to push the goal up hill with its drive wheels on the high side of the ramp. This is a very different condition. A lot of these types of robots will have go all the way over the bidged and turn around to head back up the hill with their drive wheels low and lovely. JJ |
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