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Unread 06-01-2011, 12:43
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Re: 6WD vs 8WD

Quote:
Originally Posted by Grim Tuesday View Post
I dont know if anyone saw 610's 2010 drive. It was a 6 wheel, but the middle wheels were mobile (I dont know the details), so that they could either move the wheel up or down to traverse bumps. It was amazing.

<image snipped>
We had a similar system.
The ride height was controlled by the claw, and is automated (more drop when turning, less when not). The driver must request a bump-cross, but when not bump-crossing, it handles ride height on its own.

From Danial Ernst's pictures from the State Championship:


The rear chassis (the part we attach the bot-bottoms to) is mobile, pivoting around the rear axle (omni wheels), and containing the drive motors (4 CIM + AM shifters), and most of the control system. The gearbox is chained directly to the middle and rear wheels, and the rear wheels are chained to the front wheels via two jack shafts per side (over the top above where the chassis floats). In software, the normal claw movement (including the bump-crossing and flat centered positions) is handled with the claw axis pot, and center dropping is handled by a string pot in the chassis which measures drop.
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