Subject:
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Re: positioning of robot
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Mon, 11 Aug 1997 22:48:41 GMT
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Original-From:
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Owen Wessling <OWESSLIN@USspamcake.ORACLE.COM>
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Viewed:
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1297 times
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What is your application of the robot? My experience has shown that different wheel
configurations lend themselves naturally to different applications:
In general, think about how you want your robot to move and turn, and what sort of terrain it
will be moving on. Answers to these questions will point you in the right direction for
your drive configuration.
A few suggestions and examples:
- If you're interested in performing consistant, accurate, pivoting turns, you'll want
to try to align your center of mass with a single drive axle (2-drive wheels). This will
reduce the amount of slippage between your wheels and the ground that is required to pivot
your robot and will result in more accurate and consistant turns. However, using 2 drive
wheels (and probably a couple casters) isn't always particularly stable, nor does it
tend to like rough terrain.
- Conversely, a standard car setup is quite stable, and can usually handle rough terrain,
but tends to be difficult to turn. Wheeling (turning around a pivot point that is outside
the robot, like a normal car) is easily done and accurate, but is often difficult to
conceptualize for the robot's behavior. Pivoting, however, requires a great deal of
slippage between the wheels and the ground and is consequently rarely consistant across
any two turns.
- Tracks tend to help in the pivot, but I think this is mostly due to an averaging effect of the
wheel-ground contact. And, of course, tracks work well on rough terrain.
And, of course, there are many other more diverse and unusual drive trains out there. But
then, that makes sense if different drive trains are better suited to different
applications...
Good luck,
Owen
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Owen Wessling |
Developer - Companion Products | "He who dies
Visual Development Tools | with the most toys
415.506.4841 | is, nonetheless, still dead."
owesslin@us.oracle.com |
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