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Re: pic: Team 3572 Chassis Project
I like the layout, it is very creative.
It looks like the cim plates are 1/8" thick, if they are, I would suggest at least 1/4" thick with the Cims cantilevered off them. 1/8" works if both sides are supported, but a big bounce or hit will put a large load on that thin plate. The middle drive pulley to the cims looks cantilevered from the frame tube, I'm not sure if would would be an issue or not, but it would help if you can support it with a bearing on both sides. Some testing of the current layout will let you know, just something to watch out for. I would suggest the dead axles with blocks for the outside wheels like you suggested, we ran cantilevered dead axles last year and loved the performance over live axles. With your belt layout, it makes it easier to run dead axles versus live axles as well. |
Re: pic: Team 3572 Chassis Project
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Re: pic: Team 3572 Chassis Project
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Just remember that the wires exist and have minimum bend radii. |
Re: pic: Team 3572 Chassis Project
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Re: pic: Team 3572 Chassis Project
The motor plates are 1/8", but they are also steel. This would allow us an easier time adding supports to them. A bar across might not be a problem depending on where the electronics end up. I would like to avoid it if possible though.
The majority of our components were made of 1/2" conduit last year as it weighs much less than the aluminum of equivalent strength. Plus, I hate TIG welding. Once I figure out what I'm doing, I'm usually done with the project. If we need support we will most likely go back to 1/2" conduit. $2.50 a stick can't be beat with proper welding ventilation. Plus when you are done you can paint it aluminum color and nobody ever knows. I'll keep an eye on the pulley for flex. If needed we can just extend the shaft and add another hole into the inner bearing plate. That was actually in the original design, but the shaft was cut short for prototyping and it seemed okay. Only building both sides and beating the snot out of it will tell if it will hold up though. |
Re: pic: Team 3572 Chassis Project
Looks pretty nice, but clean up the front/back axles in the cad. Either cantilevered live axle or dead axle will work, but decide on one pre-season.
Personally I recommend live axle, as it's easier to swap out wheels or gearboxes if something breaks. Also, 12fps is too slow. Gear for around 15fps at least. We ran around 16.5fps at CalGames on 4 cims with no problems; we were running 12fps during the first half of the season, and the extra speed was very exciting. |
Re: pic: Team 3572 Chassis Project
How do you adjust your belt tension and alignment?
Did you account for mechanical drivetrain loss when calculating your 12-13 fps? I'd be curious as to the drive belt engagement given your configuration. |
Re: pic: Team 3572 Chassis Project
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Speed is based on JVN's calculator set to 81%. and double checked by my awful math and an 80% efficiency. Belt runs can be seen here. After teaching drafting for ten years I realized I had never used the design accelerator in my life, so I had to play with it for a while to see what it could do. Ignore the fact that there is a 9mm belt on the wheel pulleys. That would be an 18mm belt there. |
Re: pic: Team 3572 Chassis Project
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Re: pic: Team 3572 Chassis Project
Looks interesting. I'd consider moving the motors lower and flipping them inside to lower the CG. Also, they look vulnerable where they are.
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Re: pic: Team 3572 Chassis Project
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I agree on practice, but without the funds for a practice robot and typically finishing up with hours to go, it is hard to come by. Also, a location big enough with carpet that would allow real practice has long been a dream of mine. |
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