Turning Radius

[Al Skierkiewicz]

Rick,
In cases where the robot is already moving you are correct. And in the case of a fast moving robot with the ability to have a small turnig radius (at a stopped condition) would approach infinity at it's maximum speed. i.e. it would hit a wall or field border before turning. In cases where the robot is stationary but turning, the minimum would be the turning radius but I think it still would be affected by the trailer hitting the back of the robot.

[Rick TYler]

Originally Posted by Al Skierkiewicz

In cases where the robot is stationary but turning, the minimum would be the turning radius but I think it still would be affected by the trailer hitting the back of the robot.

I loved Al's last comment so much that I think it should be spotlighted. We have these conversations all the time: "Here's the incredibly complex calculation of how the system would work based on physics and mathematics, but the noise level is so high (or the real world will intrude in imperfect ways, like a trailer hitting a robot) that we are going to take that 27.3991 mm calculation and just turn it into 'a big old hunk of 2-inch square tubing.'"

And this, my Padawan robot builders, is also engineering.

On the original question, doing the velocity, thrust, friction, and slip-angle math for describing turning radii at different speeds is well beyond the ability of my rusty math. Sorry.

[MrForbes]

For the theoretical aspect, just make a scale drawing with the wheels at various angles, and see where the lines intersect, as Al suggested.

For the practical aspect, put the trailer on it and drive it on FRP and see what happens. Strange things, I guarantee!