R06 Questions

[SamM]

<R06> states that

The ROVER WHEELS must
be used in a “normal” orientation (i.e. with the tread of the wheel in contact with the ground,
with the axis of rotation parallel to the ground and penetrating the wheel hub).

My first question is: what defines the axis of rotation? Is it only the axis that the wheel rotates about to produce motion of the robot, or does it apply to any and all rotations of the wheel.
For example, by my understanding any wheel that uses a 'steering' system, has two axes of rotation, one through the wheel hub, and one through whatever axes the wheel turns around to change its orientation.
Similarly, many suspension systems, allow the wheel to move up or down based on slight angular rotations about a pivot point that is parallel to the wheel's rotation but passing through a point on the frame, well outside the wheel.

Second axis of rotation
|
|.......................Wheel
|..................._ /
o------------I o I
....................--

o----____........._
..............-----I o I
.......................--
Secondly: Would a suspension system like this, either on springs, or controlled, be legal, assuming that its motion does not result in a significant change in robot height that would affect bumper, and trailer height calculations?

[GaryVoshol]

The axis of rotation for the wheel is through the hub - the wheel rotates around the hub and axle. The axle going through the wheel can point north, south, east or west, or any spot in between the cardinal directions. The axle cannot point at an up or down angle.

[SamM]

But does anyone know if using this method to raise and lower a wheel(s) would be legal? I can't find any discussion of this on here or on the Q&A forums.

[EricH]

Originally Posted by SamM

But does anyone know if using this method to raise and lower a wheel(s) would be legal? I can't find any discussion of this on here or on the Q&A forums.

It isn't on Q&A. However, putting any angle (with respect to the horizontal plane known as the floor) on the axle changes the orientation of the axis of rotation with respect to the floor. Under <R06>, your axis of rotation (axle) must be parallel to the floor. Therefore, you would be in violation of <R06>.

If you went straight up and down, without changing the axle's angle to the floor, you would most likely not be in violation of <R06>. (Though Q&A should be asked to confirm this.)