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 Don’t choose to aim for the stars because they mark the peak of our abilities, don’t choose to aim for the stars because it is easy, choose to aim for the stars because it shows the depth of our potential; choose to aim for the stars because it is hard! - Ken Leung [more] |
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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
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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: 408
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Pivot Twist 1.xls
Pivot Twist 1.xls
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uploaded: 25-07-2010 08:40
filetype: xls
filesize: 45kb
downloads: 226
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Pivot Twist 2.xls
Pivot Twist 2.xls
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uploaded: 25-07-2010 08:40
filetype: xls
filesize: 1.95MB
downloads: 449
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