pic: Captain Whidbey's Proswishper is walking down the stairs!

[eedoga]

Originally Posted by RunawayEngineer

I would have thought that this approach would be most beneficial to a team going for a 6 stack since that is the worst case scenario for CoG shift. Is it to address the issue of tipping, or is it to distribute weight on the wheels? How significantly does it control CoG?

To be honest...We currently don't know...

Our CAD model (Autodesk Inventor is way off currently...Mostly because of imported parts that aren't accurate and post design revisions. We need to redo a lot of our modeling in order get a more accurate understanding of what is happening when we move the battery.

We also don't have an accurate measure of our current robots weight. We broke our scale and need to fix it or get a new one before we can get things accurately figured out in order to do the math.

The idea of moving the battery came from the original plan/community request to use Mecanum wheels. In the past we have had trouble with robots being off balance which makes it difficult to get the robot to move sideways.

We had originally planned on moving the battery to help balance out the weight on the wheels.

To help with COG while lifting heavy loads of totes we are leaning the tote stack in a bit over the robot in conjunction with moving the battery. We are hoping to move the COG over the contact patch by leaning the stack.

We also don't plan to lift major loads. We plan to stick to three or four totes at the most, though bigger lifts may prove necessary as things go on.

Edoga