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A front wheel drive is not necessarily a bad design, it would likely reduce chatter in the top section of the track compared to a rear wheel drive. My thoughts on how the system will function in each configuration are biased purely on reasoning, I have not yet had the pleasure of constructing a link/chain based track system and there is no replacement for constructing an actual prototype. Perhaps you could use your first iteration design as a test platform and outfit it with the new track design, that way you can identify problems and adapt the design as needed.
I think the tensioner will be a huge help in preventing de-tracking. Is the tensioner designed with a spring such that it can provide a more constant tension over a large deflection i.e. can it take up any slack or is it fairly rigid?
P.S.If you want to check out the design I worked on for a rescue robot I posted it under the videos section http://www.societyofrobots.com/robotforum/index.php?topic=17245.0