Download Method Summary

Section I Report --- ROBOT PATROL SYSTEM
21
example is the well known of a shopping cart, it can appreciate that the
current wheel contact area is behind the pivoting axis. The more the wheel
is moved behind the pivoting axis, the more self-centering it gets.
Figure 11: Movement of wheel from pivoting axle
Ref {DAMG07}
The steering drive is a suitable configuration for rough terrains,
because it is very stable on its four wheels. It is possible to improve the
grip with the ground if any kind of suspension is used. An important
point to take into account is that none of the drive wheels became in any
time without contact with the ground; otherwise, the differential would
find the way of least resistance and consequently it would transfer all the
power to that wheel, and finally the result would be in the wheel spinning
and the robot getting immobilized.
Daniel Egido Sánchez de Vega