Drivetrain

[ Chassis | Drivetrain | Appendage | Field/Pit | Spirit/Scouting/Web | Wiring/Programming ]

Suppliers

• Andymark
• Bane Bots
• IFI
  • Skyway wheels

Motors

• One motor per wheel
• One motor per side
• Two motors per side

Transmission

• Single speed gearbox
  • AndyMark tough box
• shifting transmission
• Andymark shifting gearbox
  • DeWalt 3 speed drill motor transmission ~ $100 in parts
  • diagram of a manual transmission with dog gears
• planetary gears
  • different kinds of gears
• Bane bots transmission for 2 cim motors
  • bane bots transmission for 1 CIM motor
  • andymark planetary transmissions

Power transfer to wheels

• chain drive
• tensioner design
  • Another tensionerhttp://www.chiefdelphi.com/media/photos/29814
  • Team 2158 tensioners
  • lots of good ideas from team1322.org
  • example driving 6 wheels
  • Chain size
    • #25 - smaller, lighter, but not a part of KOP
    • #35 - tougher, heavier, comes with KOP
• belt drive
• Chain vs. Belts comparison
• belts are more flexible than chain
  • Chief Delphi discussion about belt drive.
• direct drive
  • prototype where every wheel has its own motor
  • prototype with 2 direct drive motors and 4 idle wheels

Wheels

• Sticky wheels
  • AndyMark plaction wheels
• Mecanum
• Paper describing the design and theory of mechanum drive
• Omni Wheels
  • design with sticky wheels on back, omni wheels in front.
• Tank treads
  • Prototype design w/ 8020 frame
  • Team 1251 Continuous rubber belt tread
• Custom wheels
• team 842 - 2004 wheels to climb a platform
• other innovative idea

Drive system

• omni directional
  • presentation comparing different kinds of omni directional drives At the end of the presentation are references to teams that implemented each kind of drive.
  • a robot with swerve drive
  • a robot with mecanum drive
• "tank" drive (this is what we've used in the past)
  • 2 wheels
    • This design has 2 drive wheels and other idler wheels
  • 4 wheels
    • Our 2010 design
  • 6 wheels
    • pre-engineered 6 wheel system from andymark
  • prototype of 6 wheel drive
• 8 wheels?
  • Do all wheels need to touch the floor? This robot had a record of 38-6 last year.
  • tread
    • nice tread drive design made from timing belts