Subject:
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Re: Using the Differential to drive straight.
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Newsgroups:
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lugnet.robotics
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Date:
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Mon, 14 Jan 2002 14:48:30 GMT
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Viewed:
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1003 times
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"Russell Nelson" <lego-robotics@crynwr.com> wrote:
> David Chen writes:
> > I've been playing with the following design to try to overcome the
> > problems with getting the robot to drive straight while using an A B
> > Differential drive train (ie left side wheels driven by motor A, right
> > side by motor B) and to get consistent turning.
>
> This is described in Mario and Giulio Ferrari's excellent "Building
> Robots with Lego Mindstorms".
Actuially the solution that we describe in our book is similar but not
identical to Dave's one. Starting from the well known setup in which a
differential gear is used to measure the difference in speed between the
main wheels of a differential drive - so that it doesn't rotate when the
vehicle goes perfectly straight - we suggest that it's possible to place a
motor connected to the body of that diff.gear so as to *prevent* it from
turning. In our solution this third motor has to stay OFF (electrically
braked) during straight motion, and it has to FLOAT during turns.
Though this solution works, I would use a mechanical lock if you want to be
sure that your robot travels perfectly straight, for example to attend some
kind of competition about positioning.
Mario
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Message has 1 Reply:
 | | Re: Using the Differential to drive straight.
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| (...) My implementation did something similar but used the 3rd motor in the OFF (ie. high resitance to turning) setting during turns to make sure that both the A and B side wheels turned the same amount. This helps to make sure that the skid/steer (...) (23 years ago, 15-Jan-02, to lugnet.robotics)
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Message is in Reply To:
| | Re: Using the Differential to drive straight.
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| David Chen writes: > I've been playing with the following design to try to overcome the > problems with getting the robot to drive straight while using an A B > Differential drive train (ie left side wheels driven by motor A, right > side by motor (...) (23 years ago, 11-Jan-02, to lugnet.robotics)
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