| Ari Allyn-Feuer |
20-02-2007 02:11 |
Re: pic: The gearbox that makes us so powerful
Quote:
Originally Posted by lukevanoort
(Post 581795)
I think he's talking about it having what appears to be three CIMs. (Mind you, I might be imagining that third CIM, it's hard to tell)
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The third CIM is illusory; it's two small CIM on each side. I almost wish we'd made a bracket and gearing for a third motor each side, since we're not using the big CIMs and we appear to have the weight (underweight bot, a first for us!)
The boxes are AMs that've been modified by removing all the sprockets (chain drive, yuck!) and making it thinner. Then we lightened them with holes in all the gears. Then we put Grayhill encoders in them and mated them to our track drive. We'll be able to have more pushing power than our last robot, easier turning, and more than double the speed, without costing any more weight. Should we decide on a different gear ratio, we can set ourselves up to go 20 f/s or push with double the power between two exhibition matches. Plus the sensors are insanely useful for both regular mode and Autonomous.
It's got a software automatic transmission to manage the gearing, assuming our driver decides to use it rather than manually shifting. He's got a speedometer and odometer on a laptop running a Labview VI on the OI. During the autonomous mode, well, we'll see what happens. I'm not done testing it yet.
Ari. |
