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Basic mathematics behind the control of an 4-wheel independent Pivot Drive-Train. A companion paper, Crab-with-a-Twist, describes the math needed for twisting crab-drive on the move.
Team 1640 developed a 4-Wheel Independent Pivot Drive-Train during the summer of 2009 and utilized this approach in our 2010 robot, DEWBOT VI. This paper describes the drive’s basic mathematics, primarily for “snake” and “automobile” modes. In DEWBOT VI, “crab” and “snake” modes are utilized, together with a couple of stationary “twists”.
Pivot-Wheel Drive.pdf (185 KB)