Subject:
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Re: Gear lash.... & casters
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Newsgroups:
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lugnet.org.ca.rtltoronto
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Date:
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Fri, 3 Mar 2006 14:02:53 GMT
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Viewed:
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807 times
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In lugnet.org.ca.rtltoronto, Derek Raycraft wrote:
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In lugnet.org.ca.rtltoronto, Rob Antonishen wrote:
If I may comment on the castor issue.
1. Never put rubber tires on casters.
2. Use that funny boat hull piece as a caster whenever possible
3. Never put rubber tires on casters.
The hole issue with casters messing up your direction control revolves around
them having too much grip. If they can slip into alinement, then they won’t
knock your robot out of alinement.
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I’ve been reading this, trying to figure out what you guys are complaining
about. I use casters all the time. Often I’ll change the caster design to
adjust how the robot acts.
The caster Rob used here is a problem because the double-rubber-wheel design
will resist changes in direction (if it’s turning, it will keep turning)
http://ffaat.pointclark.net/gallery/viewphoto.php?setalbumName=RTL20&id=IMG1164
A VERY simple change would be to remove one wheel (from each caster), and
replace the #3 axle with an axle-pin. I suspect that would cut down the
“drunken sailer” problem a huge amount, and make the design workable.
Going with the 4-wheel a/b drive will still have some unpredicitable turning (as
some of the tires slide) and the skid-plate will slow the robot down.
To improve turning on both these, try to keep the bulk of the weight over one
set of drive wheels.
Steve
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Message has 2 Replies:
 | | Re: Gear lash.... & casters
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| (...) Thanks for the feedback, Steve. I did try one wheel, but found that the bot would either track sideways (if the L&R were on the same side) or drag (if both to the inside/outside). I think the problem in this case was way too much weight on the (...) (19 years ago, 3-Mar-06, to lugnet.org.ca.rtltoronto, FTX)
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Message is in Reply To:
| | Re: Gear lash....
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| (...) If I may comment on the castor issue. 1. Never put rubber tires on casters. 2. Use that funny boat hull piece as a caster whenever possible 3. Never put rubber tires on casters. The hole issue with casters messing up your direction control (...) (19 years ago, 3-Mar-06, to lugnet.org.ca.rtltoronto, FTX)
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