| Pat Fairbank |
23-02-2007 17:49 |
Re: pic: Spartonics 1503's finished robot
Quote:
Originally Posted by Don Wright
(Post 584994)
Any details on your swerve drive?
|
Four wheel modules, each containing one CIM, four gears, an encoder, and a 4" by 2" wide IFI traction wheel. The gear ratio is 9.33:1. IIRC, the weight of each module is about 8-9 lbs.
Steering is accomplished with a couple of Globe motors at a 2:1 reduction - the left and right side pairs each turn as a unit, with feedback provided by a pair of absolute encoders (a thank-you goes to Tristan Lall for pointing these out). We're driving it using a Logitech 3D joystick connected via USB Chicklet.
Somewhere along the way we misunderestimated our weight, so we're currently sitting at 105 lbs (we'll be adding 15 lbs of ballast at our first regional). |
