pic: Prototype Drivetrain v2

[548swimmer]

Originally Posted by EugeneF

As sanddrag said, have you had any problems with a rigid drive? How much are you planning to have it rock? Too little rock and it would be practically the same as a rigid drive, and too much rock might affect accuracy of manipulating the game object due to uncontrollable front/back rocking.

Don't get me wrong, I think your idea is really cool. It's just the matter of seeing if all the effort to get it to work is worth it, and if the benefits are true benefits.

We haven't had any issues with handling, but why not investagate this in the off season.

With springs tensioning the suspension, it will rock only as far as it needs to. Using a diff. eq. we can figure out the specs on the spring. Ideally, at rest, the spring keeps the wheels exactaly level. Once the robot starts moving and the CG "shifts" the springs will expand cushioning any sudden blow (like a rapid acceleration). Additionally, if this robot starts to get flipped, all wheels can stay on the ground providing some traction. The front ones would lift off the most, increasing the Fn on the rear and center


That still leaves the problem of chain runs though. I'm not sure a slot would have low enough friction, plus the exterior has to be smooth for the bumpers.