We were interested in seeing if Amiga could fit into our client’s 5-feet wide rows so we adjusted the width of Amiga to 28 inches and tele-oped it for a bit. We observed that Amiga wobbled and jumped when making turns, especially in the clockwise direction, but not so much in the counter clockwise direction. Have you guys encountered this issue before? Do you have any suggestions for fixing this?
Thanks for sharing the videos. I don’t think we’ve ever tried a configuration that narrow! Since the Amiga is a skid-steered robot, a long and narrow configuration is not going to work well.
My quick suggestion is to try pushing the front & back tires as close as possible, but I’m concerned it’ll still be too narrow. Alternatively, could you get longer bars and span across the 5 foot wide rows rather than fitting between rows?
Some more detailed notes:
The track should be measured from the center of the left tires to the center of the right tires. So your track (or width) is actually closer to 18".
We typically use a 2:1 track to baseline ratio, while you’re probably at 0.75:1. You can try to push the front and back tires closer together to get the baseline down and get that ratio up.
We are currently working for a tree nursery, where the trees can grow up to 8 feet tall. Therefore, spanning across the rows sounds pretty difficult too. Thank you for your suggestions still. We will try shorten the wheelbase and see if the turnings would be more smooth. Do you know why one side is jumping more than the other though? Also, what is the narrowest configuration you have tested?
Thank you Kyle! The jumping issue from yesterday is gone now. You were right about the track width. Turned out that we just needed to put the right track width in the settings. We tried track width of 20 inches, and added weight by sitting on it. The turning is pretty smooth now. You can see videos of us testing on 3 type of ground here: 03-14-2023 - Google Drive