Re: paper: FRC148 - 2011 Robot Assembly - "Raptor"
 

I don't understand the drivetrain. It looks like it's meant to be nonadrive, but I can't find the horizontal omni.

Re: paper: FRC148 - 2011 Robot Assembly - "Raptor"
 

Also, what is this for? (the extrusion with a circle and two rectangles cut from it)

Re: paper: FRC148 - 2011 Robot Assembly - "Raptor"
 

That looks to me like a cam chain tensioner. I have seen this a few times before. If your chains become loose, you put a special tool in the two slots, crank it down a little (because it is usually a ratchet) and wala, your chains are tightened.

Re: paper: FRC148 - 2011 Robot Assembly - "Raptor"
 

Their big thing is Nonadrive, and it appears they designed around it this year (you can see some nice empty space in the middle that I can only assume is where the strafe assembly went), however somewhere during the build season they decided to remove it because of how the driver uses the drivetrain (more passive power-slide type moves than actual powered strafing, I'm guessing), so it wouldn't get in the way, and I'm assuming they used the weight to strengthen other areas of their design. At least that's what I've heard, but I'm sure JVN knows all about this...

Really amazing design, you guys, and very well executed. Last year it seemed a little chunky and overcomplicated, if you know what I mean, but you've come a long way to simplify everything. This design and all the interesting decisions that went into it really are great learning material for any FRC team.