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Re: pic: Practice Mecanum Chassis
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Re: pic: Practice Mecanum Chassis
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then again, how much distance of movement in the suspension is required to keep all wheels on the ground? |
Re: pic: Practice Mecanum Chassis
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I'll post another screenshot as soon as I clean up the new iteration a bit more. |
Re: pic: Practice Mecanum Chassis
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Re: pic: Practice Mecanum Chassis
So I've rebuilt things to include a pretty simple suspension, just as team 40 used. I've watched a bunch of video of their machine from Boston and I'm happy with what I see, so I see no use in reinventing the wheel. I also like how easy it ought to be to vary the diameter and type of material used for the suspension based on our experiences. The yellow bolt represents the pivot point that will mount this assembly to the frame. The suspension piece will react against the channel present in the earlier iterations. I'm now trying to adapt the transmission design to this self-contained module so that the chain remains in relatively constant tension during operation. It's not been fun; not because it's particularly difficult to accomplish, but because everything I've tried so far has been pretty ugly. |
Re: pic: Practice Mecanum Chassis
I like the design, I cant wait to see the finished product!
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Re: pic: Practice Mecanum Chassis
Are you sure bending the chain back and forth is a good idea? Especially when changing directions rapidly?
Wouldn't it be safer to somehow include your motors and idler sprockets in the wheel pods? |
Re: pic: Practice Mecanum Chassis
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Re: pic: Practice Mecanum Chassis
Perhaps you can save some trouble by integrating the gearbox into the inner plate of the mecanum assy, and replace the sprocket with a gear, to eliminate the issue of tension all together. I don't know what capabilities your team has when it comes to milling out excess material in the gears, but if worst comes to worst, you can design a nice lightweight gear and outsource it to sdp-si. I'm not a fan of outsourcing in FIRST, but in the real world, outsourcing is useful, and if you don't have the machining capabilities, you have no other option. It's a very nicely designed module. Keep up the good work.
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Re: pic: Practice Mecanum Chassis
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The latest iteration follows; and please note that I'm dissatisfied with how ugly the gearboxes are. I neglected to color the pivot in this shot, but it's the long 3/8" bolt sticking out from near the middle of the image. The blue represents chain -- #25 this time around rather than #35 helps to achieve some tighter clearances. The ratio as shown is 12:40 in the gears and 18:72 through the sprockets for an overall ratio of 13.32:1. I'm pretty confident this will be on par with or lighter than the kit gearbox arrangement that provides a similar 12.75:1 output. |
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