Best omnidirectional drive trains in FIRST history
 

I've been researching some omnidirectional drive trains, on many teams, but as far as far as pictures go, you can only tell so much.

So, Chief Delphi, what robots in FIRST history do you think have had the best omnidirectional drive? "Best", meaning most maneuverable, fastest, most torque, etc.

Thanks!

edit: Sorry I wasn't so clear. I was hoping for examples of robots from the past/present/future with the best omnidirectional drives fitting the description above. Videos and pics are appreciated.

Re: Best omnidirectional drive trains in FIRST history
 

Swerve. Hands down.

Re: Best omnidirectional drive trains in FIRST history
 

[Citation Needed] Please explain why this system is best in your mind.

Re: Best omnidirectional drive trains in FIRST history
 

Bomb Squad's (16) swerve drive. It continually amazes me year after year. It is fast, maneuverable, and makes any defense look silly. Our team is even considering prototyping a swerve drive after seeing them at IRI.

Re: Best omnidirectional drive trains in FIRST history
 

Any specific year? Can you provide a video? We're also thinking of implementing a swerve drive in the near future.

Re: Best omnidirectional drive trains in FIRST history
 

I'd also love to see a year and video please. :)

I've always thought 71 in 2006 was great with their system. 2008 comes close too.

Re: Best omnidirectional drive trains in FIRST history
 

http://www.youtube.com/watch?v=H0W83...feature=relmfu
Year after year their 3-wheel swerve amazes me, but I have to say that 2011 was one of the most impressive.

As for 2008, I love 148 and 118's drives. And of course 1114, for just being amazingly fast, although not omnidirectional.

Re: Best omnidirectional drive trains in FIRST history
 

I guess for a lot of you, robots from 2004 are old. However I thought Team 180, SPAM's omnidirectional chassis and Team 1083, Emoticon's omnidirectional chassis were pretty cool.

As far as swerve there are way too many teams that have mastered it over the years. It's very hard to name just one.

Re: Best omnidirectional drive trains in FIRST history
 

To my knowledge, the only drive systems that have won Einstein that weren't tank drive were:

-67 in 2005 (swerve of unknown particulars)
-148 in 2008 (coaxial swerve)

If someone remembers one I've missed, I'm all ears.

Re: Best omnidirectional drive trains in FIRST history
 

Tumbleweed (148's 2008 robot)

118's 2008 robot


My personal favorite is 1625's 2010 6-wheel swerve. It offers a lot of versatility in terms of being able to function as a 6-wheel tank drive, and as a traditional swerve drive. They were the captains of the Galileo-winning alliance, so, interpret results as you will.

6-Wheel Swerve!

Re: Best omnidirectional drive trains in FIRST history
 

8 wheel swerve

Re: Best omnidirectional drive trains in FIRST history
 

111 - 2003

Re: Best omnidirectional drive trains in FIRST history
 

I cannot help but give my vote to 1717 the D'Penguineers and their 2011 swerve drive. I have seen many swerve drives, in both digital media and in person, and the D'Penguineers have undoubtedly (this being subjective, of course) set the new standard in Coaxial Swerve drive-trains. Here is a link to a video of them in competition, which is definitely worth a watch, ideally in HD. It's almost unbelievable how naturally and smoothly it drives.

Well, good luck on whatever you do build!

Re: Best omnidirectional drive trains in FIRST history
 

And 2009.

Re: Best omnidirectional drive trains in FIRST history
 

2009-Beachbots' sorta crab system is one of my favorites.

Re: Best omnidirectional drive trains in FIRST history
 

I believe the answer to my question lies in the swerve drive of 1717. Not only was that extremely fast and maneuverable, but it was some of the smoothest driving I've seen to date, even giving the Cheesy Poofs a run for their money this year! Anyone have any specs on that drive train?

Re: Best omnidirectional drive trains in FIRST history
 

111 didn't have an omnidirectional drive in 2006.

Re: Best omnidirectional drive trains in FIRST history
 

I would like to see an 8 wheel swerve. Does 233 have something that they are prototyping in their labs for next year?:D :D :D :D :D

Re: Best omnidirectional drive trains in FIRST history
 

Haha sorry, I just went back and watched the videos, I was thinking of 71 the whole time.

Re: Best omnidirectional drive trains in FIRST history
 

I like 2010 Winnovations 6 Wheel Coaxial swerve. We were on their alliance 2010 at Greater Kansas City, and the next time I saw their robot they were competing on Einstein. Another close hit would be Team 16 Bomb Squads 3 wheel swerve.

Re: Best omnidirectional drive trains in FIRST history
 

What sells it for me is that it is totally rock solid. Having worked with it for what, 10 years?, they have it in the bag, and they also have the smoothest driving (and one of the best drivers) I've ever seen.

Re: Best omnidirectional drive trains in FIRST history
 

This list isn't complete without including Joe Johnson's designs for 47 (now part of 51) in 2000 and 2001. Their 2000 robot is my favourite robot of all time, and was dominant in an era when parts still had to be sourced from the Small Parts catalogue. 2001 was a four-tread-drive, independently powered, independently steered swerve drive.

111 also has a history of excellent swerve drives—the world-championship-winning 2003 robot in particular, with its StangPS coprocessor and sketchable autonomous modes.

Re: Best omnidirectional drive trains in FIRST history
 

A personal fave:
1114's 2004 swerve(crab) drive that actuated up the steps.

It may not be the best omnidirectional drive of all time, but it was one of the most fun to watch...

-Brando

Re: Best omnidirectional drive trains in FIRST history
 

I loved watching the hook on that thing deploy. It was truly awesome.

-Brando

Re: Best omnidirectional drive trains in FIRST history
 

I will be very surprised if I see team 233 with a swerve drive during the season.

Re: Best omnidirectional drive trains in FIRST history
 

I would be surprised to see PINK assembling a swerve drive at their first event of the season. :)

Re: Best omnidirectional drive trains in FIRST history
 

especially if it's a two-speed

Re: Best omnidirectional drive trains in FIRST history
 

Well the best is obviously sitting in a CAD file on my laptop, :p (this is a joke, I've got plenty of fun ideas, but they currently are just ideas)

My vote from watching them this year is team 16's robot, 1717's was fast but nowhere near as fluid as the Bomb Squad, much of that has to do with the arranged steering methods 1717 uses (steering diagonal modules), vs 16's completely independent setup, this is my hunch from the background I've had with them.

Re: Best omnidirectional drive trains in FIRST history
 

Personally I'd never build a kiwi bot, but watching 1501 in 2010 was pretty sweet. They built a pair of awesome little robots.

http://www.youtube.com/watch?v=SMVauiFfVXM

http://www.chiefdelphi.com/media/photos/35176

Re: Best omnidirectional drive trains in FIRST history
 

Probably not the best but it worked GRAYT for us. We won two engineering awards for it. Team 1322’s 6 wheel omni direction drive with a suspension. The only thing that would make it better is if we used gear differentials instead of ball differentials. Although it was mechanum wheeled, with the addition of the sets of omni wheels to make it six wheel drive it could push other robots better than a regular mechanum drive system.
http://www.youtube.com/watch?v=7_rtqg838Nc

Re: Best omnidirectional drive trains in FIRST history
 

Why did it have differentials?

Re: Best omnidirectional drive trains in FIRST history
 

The center wheel was linked to both mecanum wheels on its side. The differentials were to allow strafing--mecanums going in opposite directions don't do too well when linked via chain. The differentials went right between the sprockets in the center for the wheel such that when both sprockets were going the same way, the wheel went that way, but when the sprockets didn't go the same way, the wheel didn't turn.

Re: Best omnidirectional drive trains in FIRST history
 

Ah, very cool.