Also for reference of this drive train.
Do you have a graph or another sort of worst/best case comparison graphic that would illustrate the difference in the path/orientation of the body of the robot when it is equipped with the pivoting wheels vs single wheels at the pivot points?
Maybe a graph of degrees of tilt vs the location of the CG (projected onto the floor) as it moves from one side of the bump to another?
That would really ice the cake for folks who want to make a comparison.
Blake
Folks who want to make a comparison should probably do their own bump analysis with their specific wheel base and then determine their clearances/weight distribution based upon their own chosen manipulators. It’s pretty easy; you don’t even need the exact detailed nut-and-bolt model of the drive train.
What’d you make those models with? They’re quite nifty.
Our team thought of another way using Inventor models of the bump and various robot designs and printing the bump on paper while the robot designs on transparencies. Not exactly rocket science, but our team members seemed to like the new perspective.
I wish I could find a nice way to do dimensionally correct physical simulations, but I can’t really find any.
-Tanner
All you need is a 2D CAD sketch with proper tangent constraints. Then you can drag it around, change dimensions, and see if you’ll hit.
Google Sketch Up would do this for you.
