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Re: pic: Prototype Drivetrain v2
Not these--they go in the chain, and don't contact the robot frame at all. Should be negligible effect on the suspension.
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Re: pic: Prototype Drivetrain v2
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Re: pic: Prototype Drivetrain v2
Forget the suspension if you are not doing two things:
Driving over rough terrain like the bumps Powering all wheels You speak of a "smother ride" and I really do not understand what it will benifit you. If you are concerned about your electronics mount them on a foam surface, or some other kind of protection. If you don't want to jostle the rest of your bot, well, almost all of the jostling comes from collisions, not deceleration from turning and stopping. Also if your bot cam into any kind of pushing match it would distinctly be in the featherweight class. Not only will the omnis make it so that you well be easily spun, the 4 useless wheels will give you significantly pushing power. On your v1 thread you mentioned that you mechanical guy said he could put 75% of the weight in the center. I do not see how that is possible when you don't know what next years challenge is. Here is one way to keep the chains in tensioned http://www.flickr.com/photos/47595136@N03/4592232432/ http://www.flickr.com/photos/47595136@N03/4591612471/ http://www.flickr.com/photos/47595136@N03/4591612485/ Power the middle wheel run chain to the other axles, and then add a suspension to the angled bars with closed pneumatics. |
Re: pic: Prototype Drivetrain v2
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As for the weight distribution, that 75% was assuming the CG was in fact in the geometric center of the robot, and it usually is pretty close to that. This whole concept may never get built. This is just to inspire the younger designers that I'm training over the summer and to provide us with a jumping off point for next year's challenge. If there is a surface feature like a large washboard or uneven, low steps going up to some important game piece, the suspension will be useful. |
Re: pic: Prototype Drivetrain v2
Your team doesn't like pneumatics? That makes life harder. The same idea works with springs, they just may wear out and cannot be adjusted.
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Any ideas on how I could tension the chains in the current configuration? |
Re: pic: Prototype Drivetrain v2
It seems foolish to throw away a useful tool.
And simply no, I do not see a good way to tension it like you have it set up now, mainly do to the fact that springs in a tensioner will allow chains to slip. Something like this could be converted into that tensioner from mcmaster mentioned earlier. I have never used this style to tension, I have no idea how they work. http://www.mcmaster.com/#sprockets/=70knoq The link isnt working here is the pn 6793K19 |
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I am unsure of why you are so set on a suspension. Quote:
My advice: a suspension is not worth the hassle (and relatively useless) unless you are powering all wheels, or going over a surface that is not flat. To compensate for the sudden stops and starts, perhaps you could try to scale the acceleration and turning to your discretion through programming. |
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I personally like the suspension even if we have a flat surface. Last year the field was flat but at nationals we kept having issues with one or two wheels not touching the ground because of our pick up mechanism which had to touch the ground. There were bumps in the actual field which caused our pickup to touch the ground but our front two wheels did not. I am designing a suspension so this does not happen to us agian. We were using 4 Wheel Drive which is different but the idea is still the same. My design will be for mecanum.
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