A little physics
Traction depends on a number of factors that can be divided into depending on the design and, as a consequence, environmental conditions and the current state of the robot. For factors associated with the design include, first of all: the coefficient of friction of the surface of the tires and their width – the higher the values of these parameters, the better machine to cope with the maintenance of control over the speed. Is also important weight – too easy design can "break away" from earth in the so-called buksowania – that is, phenomena in which the linear speed of movement of the robot below (in extreme cases, even zero) in comparison to the speed which should be related to the current speed of rotation of the wheels. Polyurethane wheels meet two of these conditions – they are wide and offer excellent friction coefficient.
Regardless of the settings entered design, it is also important the conditions of the environment in which the robot moves and the current state of the movement of the robot. In addition to resistance, delivered through one surface (much harder to get high traction on slippery surfaces, covered with sand or dust or oily or wet), significant is the angle of inclination to the level. Although in the case of robots, minisumo or line follower this problem does not occur in many other structures, it is worth to use the advantages of polyurethane wheels with high adhesion, if we know that the robot can receive the lowering and raising of the Foundation. It should also be added that, if the surface is rough, dirty and in the grass or on the forest paths better suited ogumione wheels with tires with deep tread is on a smooth, clean, contrary to popular opinion, a much better cope polyurethane wheels.
Polyurethane wheels guarantee a win
For the final success in the competition robots mini-sumo or anti-design racing cars class, line follower, influence all the elements of the robot – software, electronics, actuators, or even the design and balancing of the mounting frame. However, the wheels (especially polyurethane wheels) occupy a special place. By limiting the permissible mass and dimensions, especially in the case of heavy-duty robots of the minisumo class, they allow to reach the maximum (for such a small design) grip. Available in our offer polyurethane wheels have a diameter of 30 mm and a width of 22 mm, and for easy installation includes a built-in hub, mounting for shafts with a diameter of 3 mm so will be fine to cooperate, in particular with popular Pololu motors.