Replace huge caster with less intrusive wheels?

hmartiro / project-thesis

xJüs, the hexapodal robot with a passive-backbone to improve behavior over harsh terrain.

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Replace huge caster with less intrusive wheels? #57

Closed PayneTrain closed 11 years ago

PayneTrain commented 11 years ago

Thanks for putting the caster on but they are meant for a 300lb cart and introduce a lot of instability in the horizontal plane because they drag on the floor in irregular manners which causes the back of the cart to move in an unpredictable manner, ultimately affecting the trajectory of the cart
Simple wheels like this should be fine, we do not need 360 degrees of freedom on the wheels. Let me know what you think

towlett commented 11 years ago

Fine...

hmartiro commented 11 years ago

I agree they do fuck things up because the points of contact with the ground pivots a lot (> 1") as the giant casters rotate, causing really weird motions to happen. I think much smaller casters would also be fine for the test cart.

Or, even just constraining the caster so that it acts like a wheel would probably work

towlett commented 11 years ago

If the rotation is the only problem with those monster casters, I can also look at some way to make them stop castering around. That's a lot easier than rebuilding the whole back of the cart.

hmartiro commented 11 years ago

This needs to be done soon @boleary134 @towlett

hmartiro commented 11 years ago

bump

Hughzie commented 11 years ago

Added a rod connecting the two casters through their axle so that they do not rotate in different directions