Castor
Sat, 05/22/2010 - 01:50
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Well, mecool it all depends on what you are making and where your sensors are placed. Though it should'nt cause much of a problem if you are making the line follower, keeping it in the rear will be a little better. Castor is not the driving force, it is your motor which i believe would be connected with a controller and some sensors.
Simple physics... it is allways better to pull than push... castor in rear and the powered wheel in the front. There will be better control
A trailer castor follows the driving wheels easier than a leading castor is pushed by them. This means that if the castor gets in a small bump, if it is in the back of the robot it doesn't influence the direction of the robot as much as if it is in the front. The center of mass (weight) should be between the wheels at all times, but the more on the driving wheels the more traction the robot has.
The configuration of reverse tri cycle (i.e. rear castor & front driven wheels) is more stable. It has less tendency to topple & is referred to as all terrain cycle.
Just don't think so much & use rear castor wheel configuration
What if we use two castors one in front and one at the rear end.. and the driving wheels at middle of the chasis.. centre of mass will be in the middle of the machine... is this a good idea...
Why use two castors then, just make a four wheel drive
casters will be cheaper... the 2 extra wheels and shaft assembly..or otherwise you can use... Also my question is related to the torque my nachine will get, it will have better balnce while taking a turn in this configuration... then in the four wheel drive...
BUt it will increse the complexity ... so u shud go for the rear castor wheel ... because it will not cause any trouble.. and driver wheels should be at the front .. this is the only best .. If u use driver at centre of mass... how willu control ur bot and in which drection u will make it move and ho w... and what and how will rear functionthen will it not cause the bot to skid or drag ... ?? and increase friction on the surface ???
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movements will not be affected at all they will be same like other configurations....