By: Clem1640
New: 25-07-2010 08:40
Updated: 25-07-2010 08:40
Total downloads: 1087 times

4-Wheel Independent Pivot Drive allows for dynamic and controlled reorientation (twisting) of the chassis in Crab drive mode. The mathematics behind two different Crab twist modes are exploreed.

Team 1640 (Sab-BOT-age, Downingtown PA) developed a 4-wheel independent Pivot Drive-Train. This Drive-Train was first utilized in the team's 2010 FRC robot, DEWBOT VI. This drive-train utilizes independent drive and steering motors to each of the (4) wheels (so, 8 motors total for the drive-train). As compensation, the drive-train is very flexible and suited to a variety of control modes. Basically, it is a "fly-by-wire" drive-train. This paper explores the mathematics behind adding a dynamic chassis twist to crab-drive. Two different dynamic twist modes are described. Worksheets are included.

Attached Files

• Pivot - Crab with a Twist.pdf

  Pivot - Crab with a Twist.pdf

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  uploaded: 25-07-2010 08:40
  filetype: pdf
  filesize: 1.28MB
  downloads: 409

  
  

• Pivot Twist 1.xls

  Pivot Twist 1.xls

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  uploaded: 25-07-2010 08:40
  filetype: xls
  filesize: 45kb
  downloads: 226

  
  

• Pivot Twist 2.xls

  Pivot Twist 2.xls

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  uploaded: 25-07-2010 08:40
  filetype: xls
  filesize: 1.95MB
  downloads: 450

  
  

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