Mowrobot Wheel

Update_17th_May_2020:

Now that a couple of weeks have passed and the robot is finally doing a good job I'd like to give you an update what has happened in the meantime to make it so:

The first couple of days at the end of March and the first couple of days in April weren't bad, but not perfect. Then it started with the really good weather and the turf started getting dry and hard. The tractor tread is not ideal for our clay-rich earth, that gets rock hard as it dries. The tread just scrapes away on the hard surface and doesn't find any grip apart from the gras that inevitably gets schredded, when the robot gets stuck on the sand box or whatever. Then I mounted the spiked wheels again and it got better. Still not perfect though. In the end I finished up modifiying the flexible pillars attaching the body to the chassis. I took an angle grinder with a 4mm thick !!used!! cutting disc and inserted a slot at both ends - reducing the stiffness and making the collision detection alot mor