How to turn better with four wheel?

[KrazyCarl92]

Originally Posted by SuperNerd256

Is there a way to turn better without adding an extra wheel on a wide chassis, or without changing to omni wheels? We would be doing this with 4 wheels, not 8, however.

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

Originally Posted by KrazyCarl92

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

We are using all 4 CIMs. We actually aren't experiencing problems since we haven't tested yet (Testing tomorrow, can't wait! ), however we wanted to know if there was anything we could do to prevent any problems.

[KrazyCarl92]

Originally Posted by SuperNerd256

We are using all 4 CIMs. We actually aren't experiencing problems since we haven't tested yet (Testing tomorrow, can't wait! ), however we wanted to know if there was anything we could do to prevent any problems.

Ah, then I'd bet you'd be fine! A 6 wheel drive narrow chassis breaks up the wheel base into 2, 28 x 19 rectangles (roughly), which is a ratio of 1.47:1. With a wide chassis, you have one wheel base that is a rectangle of 38 x 28 (roughly), which is a ratio of 1.36:1. Now short of vector analysis, that's easy math that can show you the turning abilities should be somewhat similar; don't expect any major changes.

[WarriorRobotics]

Originally Posted by KrazyCarl92

That's interesting...we've had a 4 wheel drive robot at 119.9 pounds before on 6 inch andymark plaction wheels with no problems turning...are you using 4 CIMs in you're drivetrain? If not, this extra torque could aid in turning.

Really now? Anything you had to do to get it to work like that? We're currently using 4 CIMs and our robot can't turn.

[Tristan Lall]

This may be relevant to your interests. (Look at the diagram, then at the final equations; it's pretty straightforward.)

[BrendanB]

If you are using the kit frame chassis you will notice that the hole for the center wheel is dropped by 1/8 of an inch. This is there so that you can put a 2 more wheels in your drivebase taking if from a 4wd to a 6wd setup and the chassis will rock between the front and back wheels and will greatly improve your turning ability. You can use the 2010 slick wheels or omni wheels on either the front or back to make your 4wd setup turn, but those wheels won't have a lot of traction if any.

You can either buy two more wheels, or use the 4 plactions in the back with 2 8in kit wheels in the front.