Difference between revisions of "3-Wheel Swerve"
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Image:Pentabot111.jpg|Pentagonal design based on 111" perimeter. Casters to be located at the (2) vacant positions to improve stability. | Image:Pentabot111.jpg|Pentagonal design based on 111" perimeter. Casters to be located at the (2) vacant positions to improve stability. | ||
Image:Tribot_130711_csm.jpg|Pentagonal prototype | Image:Tribot_130711_csm.jpg|Pentagonal prototype | ||
+ | Image:Polygon_round_chassis_stability.jpg|Angular chassis stability of polygonal and round chassis of 111 inch perimeter having 3 to 6 pivots arranged on a regular polygonal pattern with pivot axes 2.7 in from the perimeter | ||
+ | Image:Stability_max_min_chart.jpg|Maximum & minimum stability for the same set of chassis | ||
</gallery> | </gallery> | ||
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[[Category:Robot]][[Category:DEWBOT IX]][[Category:Drive-train]][[Category:Pivot Drive]][[Category:Photo Galleries]] | [[Category:Robot]][[Category:DEWBOT IX]][[Category:Drive-train]][[Category:Pivot Drive]][[Category:Photo Galleries]] |
Revision as of 21:29, 5 August 2013
The 2013 change in perimeter rules (112 in overall perimeter vis-à-vis 28in x 38 in) open new potentials for non-rectangular robots. The team decided to explore this.
In particular, the new rules enable the design of a 3-wheeled robot without paying as large a penalty in terms of reduced stability. Potential benefits of a 3-wheeled drive-train are reduced drive-train and chassis weight, and/or a drive-train with enhanced features (which might otherwise been impractical due to drive-train weight). Additionally, a 3-wheeled swerve robot reduce burden on the cRIO. A tiangular chassis robot may be able to break a blockage by opposing robots more easily than a rectangular chassis robot due to the reduced corner angle.