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pic: Team 195 driving base 2007
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Re: pic: Team 195 driving base 2007
WOW!!!:D :D :D Engine turned finish, full welded frame, anodized custom wheels, custom shifting transmissions...
Can I get a close up of those wheels? :) (P.S. Please post more pictures!) |
Re: pic: Team 195 driving base 2007
:ahh: Are those transmission plates delrin???
If so, that seems to have become a popular choice this year - Suddenly I feel left out with my plain old custom aluminum transmission plates ... BTW - those wheels really came out nice with some anodizing! I'm still anxiously awaiting what ours will look like (they are going in tomorrow, hopefully) - Jeff |
Re: pic: Team 195 driving base 2007
What, no tank treads??
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Re: pic: Team 195 driving base 2007
This plain looks awesome. Seems sort of reminiscent of West Coast Drive, with some requisite east-coast tweaks.
But what I'm really loving is how the CIMs are mounted on the transmissions. We're running the AndyMark two-speeds this season, and fitting them in with everything else has been a little hard at times. (Don't get me wrong, I still think we made the right choice for our situation--it's all part of the challenge.) Should the time come for us to start rolling our own transmissions, this is a picture I'm coming back to. Hope to see this one in Atlanta! |
Re: pic: Team 195 driving base 2007
Kudos on the custom wheels and delrin plates very nice. West coast style drive is always a winner I like the modifications to it though you guys have made. 1251 has a similiar drive base this year. Ohh ya the finish on that box tube is sweet,neat touch. Looks like a battle ready base see you guys in Atlanta hopefully.
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Re: pic: Team 195 driving base 2007
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I think they are also taken on a new look this year. Nice rims I like the blue |
Re: pic: Team 195 driving base 2007
believe it or not the delrin is only in the temp chain tensioners...
all the black is simply ABS plastic P.S. the swirl finish looks really pretty black ;-) |
Re: pic: Team 195 driving base 2007
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Either way, you guys are gonna rock this year. This base looks good, and a practice bot/full playing field doesnt hurt! (Any other college mentors feel like they got the short end of the stick when they left?) |
Re: pic: Team 195 driving base 2007
wow 6 wheels? how do you turn?
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Re: pic: Team 195 driving base 2007
cant wait to see this at the scrimmage !!!
tom...you were holding them back...hahaha jk guys |
Re: pic: Team 195 driving base 2007
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looks great guys cant wait to see you at UTC *ill be scouting all of you for nats!!!* |
Re: pic: Team 195 driving base 2007
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another version of the 6wd solution is to keep all the wheels on the same level and replace one or both of the outboard sets with omnis (see 488's robot this year) |
Re: pic: Team 195 driving base 2007
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I won't repeat all the arguments here, but you can find discussion about it here, and it would appear that a few of your mentors are quite familiar with 6wd systems. You'll also notice that most well-designed tank tread robots have a middle wheel that's slightly lower than the outer wheels, making it essentially a "lowered wheel" 6wd system There is nothing here that says this is the ONLY way to do 6wd. Your team is living proof of that. I'm just trying to present the reasoning behind the lowered wheel. Many MANY teams use this design, so they can't all be wrong. |
Re: pic: Team 195 driving base 2007
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http://www.chiefdelphi.com/media/photos/26869 We only been doing wheel for two year so I am no expert but this system works. it is lowering the center wheel a little. We did tank track before that and also had a center wheel http://www.chiefdelphi.com/media/photos/18792 I think our robots has proven to have power so what he is doing is a good way |
Re: pic: Team 195 driving base 2007
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By lowering the center wheel, you effectively create two 4WDs with a shared center wheel. Each of these has a wheelbase roughly 1/2 of that of the same drivetrain with coplanar wheels. Also, closer the center of mass of your robot is to the center wheel, further it is away from the center of area of both of the wheelbases. Additionally, the traction and width factors should be the same as if you had a coplanar 6WD, and you still achieve many of the other benefits of a 6WD. (Thanks to Chris Hibner for this terrific white paper on the physics of turning with a 4WD). |
Re: pic: Team 195 driving base 2007
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On the other hand, when you do a 6wd and don't lower your middle wheel, the robot is trying to turn on 6 different points. Depending on the friction you create with the wheel/tread you are using, it is very hard to turn unless you lower your middle wheel. While lowering the middle wheel, lots of team work on their CG. If the CG is low and the weight is distributed properly throughout the robot, while turning, the robot turns on 2 (middle) or 4 wheels (using only 4 different points to turn), creating less friction. At the same time, there are always 4 wheels touching the ground. I know wedgetop compresses, so if the weight is distributed properly, you get all 6 wheels touching the ground while going straight or back even if you lower your wheel. It also depends on the team how much they lower their middle wheels. I have seen teams do 1/16, 1/8, 3/16, 1/4, even 3/8 and lot of teams have been successful doing it too. I sure would like to know how does a team turn without lowering their middle wheels. If there is anyone out there with a proper answer with reasonings behind it, please post. Now back to topic... As always, 195's chassis looks awesome. I am digging those wheels. Can't wait to see you guys in person. Let's not burn a victor out right before the final match this time. =) |
Re: pic: Team 195 driving base 2007
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What I'd really like to see is an eight wheel drive, with 4 centralized drive wheels that are in contact with the ground all of the time, except when accelerating hard in one direction, or pushed from the top. The front 2 and back 2 would be raised up a bit (1/8" or so), be smaller (to reduce weight), and probably unpowered. This would have the benefits of a long drivetrain, be stable (none of the rocking back and forth I'm guessing you get with a 6WD), and have a more predictable center of turning. |
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