September

Season Planning; Studica Drivetrain Brainstorming & CAD

September 23, 2024 - September 27, 2024
Documented By Chris Chen

Drivetrain:

We decided to start the season with a Studica drivetrain to simplify prototyping. This approach allows us to easily make adjustments to mechanisms that might require changes to the drivetrain. Additionally, building a drivetrain gives newer members the opportunity to learn the basics of robot construction.

Intake & Deposit:

We chose an arm-and-claw design to avoid the complications of a transfer mechanism. This design features a large gear powered by a motor and two lower-gear ratio motors to provide the torque needed to expand and contract the slides. The claw incorporates three motions: rotation, pivoting, and pinching, all controlled by servos.

<- On the left is a break down of the drivetrain labeling the parts.

PROS & CONS of Mecanum Drivetrain:

Other Drivetrain Considerations:

Swerve:
- Full 360-degree mobility without changing orientation.

Quick turns and complex maneuvers.
Move in any direction while facing a different way. It's like strafing for mecanum drivetrain.
Fast and responsive, saving time on the field.
Effective in both offensive and defensive strategies.
However, there are challenges with this drivetrain because it is expensive, and coding it for smooth driving and autonomous control is difficult, especially since there isn't a widely-used library for swerve.

X-Drive:

I saw Lo-Ellen using this drive train this season and it is very small and quick. This year's game doesn’t have much defense. It is all about getting the samples from the submersible and cycling fast.
I considered this drivetrain mainly because of its agility.

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