Re: KingKrab
 

My apologies for these questions, but I don't have access to YouTube at work, so all I have to go from is the CAD models (excellent work as always, btw)...

- Are the connections, including those within each wheel module, chain or belts? You probably just used simplified models, but I wanted to be sure.
- What size chain/belt are you using for each location?

Re: KingKrab
 

We bought them from mcmaster, and the calculations were based on the modified Lewis Bending Numbers Equations for Miter gears.

Chains, we just use a simplified model based on sprocket pitch diameter and chain height/width to check clearances. The models are actually based on the output of Dr. Joe's Chain Path visualizer (which we slightly modified to calculate the weight of the chain based on length as well, so we added that as a custom property so the chain weight is accurate).

We use #25 for the steering loops and for within the modules and #35 for the drive. Technically we could use #25 for the main drive loops and It'd be strong enough, but a single drivechain failure renders the robot immobile. We've considered two parallel runs of #25, which would still be lighter than the #35.

Re: KingKrab
 

McMaster part #: 6529K14
that bevel gear has worked flawlessly for us, we've never destroyed one or lost any teeth, they are pretty durable in that regard. You can also turn down the hubs on them to save some weight.

the track record this year is, chicago, milwaukee, colorado, atlanta, and IRI, and offseason demos, and there still lookin good.

Re: KingKrab
 

Thank you very much aren. Thats what I wanted to know. It's a shame they're so expensive there. We need to find a cheaper source.