Propulsion that does not involve driving wheels

[DonRotolo]

Several threads discuss wheels, friction and traction.

I propose moving a robot around like a swamp boat. A 27" fan on each end, driven by 2 CIM motors each, with steering vanes, might allow for a far greater acceleration than wheels on the ground.

You'd still have wheels of course - I am not proposing a hovercraft (or eels) - they would just be mounted as casters, with no function other than supporting the weight of the robot against the playing field.

Two fans running in the same direction would push the robot. To slow down, reverse them both (no need to turn around). Run them both blowing outward, maybe you can blow moon rocks away from your trailer as the other alliance lobs them to try to score...

Steering is a little bit poor however. For this, we use a horizontal reaction wheel (think bicycle wheel with a heavy rim, spinning parallel to the floor). Driven by two FP motors at about half speed (to allow speed headroom both faster and slower), you would slow it down quickly - conservation of momentum would cause the rest of the robot to spin in the opposite direction. The same effect would occur, but in the other direction, but sharply accelerating the wheel. the wheel would be brought back to idle speed somewhat slower than during a steering maneuver.

An alternative to this would be a vertical flywheel (the axle would be horizontal) in the center of the robot which is turned opposite the direction you want to steer the robot. Gyroscopic effect would work to keep the wheel from moving, so the robot beneath it would move instead. This idea is not mine, I give credit to C J Reeves.

Thoughts and comments on these ideas are requested, along with other ideas for propulsion not involving driving wheels.

Don

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