Subject:
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Re: Rack and Pinion Steering
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Newsgroups:
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lugnet.robotics
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Date:
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Wed, 3 Nov 1999 23:08:59 GMT
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Original-From:
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The WordMeister <dwilcox@wordsmithdigital&stopspam&.com>
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Viewed:
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690 times
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Thanks for the tip! I do believe that will work. I'll let you know!
--Doug Wilcox
-----Original Message-----
From: Robert Munafo <munafo@gcctechNO.SPAMcom>
To: lego-robotics@crynwr.com <lego-robotics@crynwr.com>
Date: Wednesday, November 03, 1999 3:43 PM
Subject: Re: Rack and Pinion Steering
> In lugnet.robotics, lego-robotics@crynwr.com (The WordMeister) writes:
> > [...] I'm working on a wheel-based 'bot that has rack-and-pinion steering,
> > and I've run into a snag. [...]
> >
> > The goal is to [have] the steering assembly automatically recenter
> > (or recenter with a small push in the opposite direction from the
> > motor) when the turn is finished. [...]
> >
> > I'm having some problems [...] if the pulleys are strong enough to
> > [steer] [...], they are too strong to allow the recentering to work
> > well [and vice versa] [...]
>
> I think you should look at a design in which each steering wheel's pivot • axis
> is NOT in the same plane as the steering wheel's axle. Specifically, each
> wheel's axle should be behind its pivot axis, where "behind" is referenced • in
> terms of the intended direction of motion.
>
> A caster is a good example of such a wheel design -- it requires no special
> effort to make it "point" straight ahead. As long as the thing to which the
> caster is attached is being pushed forwards, the caster automatically • swivels
> into alignment.
>
> Automobiles and bicycles also implement a type of "passive centering" in • which,
> when you let go of the steering wheel, the forward motion of the car pushes • the
> wheels towards center. The bicycle's design relies entirely on weight • (downward
> force) and is notable because the pivot axis is not vertical. Automobile
> designs are much more complicated (particularly when the steering wheels • are
> also drive wheels) and are probably not worth the effort.
>
> - Robert Munafo
>
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