Building Robots at School

June 24, 2009

VEX Workshop: Turning

Filed under: Uncategorized — dtengineering @ 12:37 am
Turning Configurations Posted to the VEX Forum by bons

Turning Configurations Posted to the VEX Forum by bons

I’m torn between writing something on this topic, and just referencing existing materials.  There is an excellent paper involved on the physics of turning a four wheel drive robot at:

http://www.chiefdelphi.com/media/papers/1443

And a very useful spreadsheet based upon those formulas at:

http://www.chiefdelphi.com/media/papers/1917

While the formulas are for a four wheel drive robot, in most properly designed six and eight wheel drive robots there will only be four wheels touching the ground at any one time.  This is because you typically lower the middle wheels relative to the fore and aft wheels, giving the robot a bit of “rocker”.  This means that you will always have two wheels in a six wheel drive, or four in an eight wheel drive, that are doing very little to support the robot and… for purposes of this model, can simply be assumed to not exist because since they are not touching the ground they neither provide inline or transverse traction.

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