pic: another iteration

[Aren_Hill]

[cdm-description=photo]29413[/cdm-description]

[Aren_Hill]

This is the frame im working on a transmission for (http://www.chiefdelphi.com/forums/showthread.php?t=59994)
The transmissions would go on the short ends between the modules vertically and drive the input sprockets seen.

[Jacob Plicque]

This is the frame im working on a transmission for (http://www.chiefdelphi.com/forums/showthread.php?t=59994)
The transmissions would go on the short ends between the modules vertically and drive the input sprockets seen.

Aren,
What is the weight of this variation of the crab drive? It looks like it should be lighter than the previous 41# version. We built a single speed creb drive in 2004.
Regards,
Jacob Plicque
Team 86 Mentor

[Aren_Hill]

I've been a little lazy in regards to setting the properties of all the materials but i know this one will end up alot lighter than the last one, not sure how much.

all the frame tubing is 1x1x1/16 wall

[CraigHickman]

How wide are your wheels on this?

And what motor are you using to steer the modules?

[popo308]

I'm not entirely sure of the specs he made for this but i believe it is going to be turned by a fisher price through a bane bots gear box. Not sure on the wheels i believe they are 2.25?? possibly

[Al Skierkiewicz]

Aren,
Don't forget some form of bearing surface at the bottom of the module. Between the torque from the wheels and the side load from a pushing opponent working on the moment arm of the entire module, the modules will bend and flex. Although it doesn't seem like much, it can put the wheels on edge which will lose a lot of friction and steering accuracy. If you remember, we have a circular plate on the module with a circular delrin bearing turning inside a fixed mating plate attached to the bottom of the frame. In the past we have used a variety of things, but the delrin ring seems to work the best when we choose to use crab drive.

[Pavan Dave]

I love all the new crab designs I've been seeint lately! Keep up the good work man! .... But one question, where are the chains/motors? Will you be doing something like a central motor location (the Robonaut's V6 from '07) or will you doing something along the lines of the SigmaC@ts or something different?

[Aren_Hill]

Al. The bottom disc of the modules will be supported very closely to yours but instead of a full ring it will have 4 tangental squares it will run against most likely.

Pavan. This swerve will have 1 gearbox up front (narrow end) and one on the opposite end. Still giving us the ability to tank drive and spin in place. Similar to your setup but with 2 gearboxes instead of 1.