You've got it! Yeah, we have never had a problem with the P80's, and we have put them through some serious wear and tear. They are great little transmissions, but I agree they are very fragile. The main problem that we had was the set screw holding the key in on one of the motors came loose and the key fell down the shaft, but again, that plays into the reliability thing, one of the motors failed, and the drive train could still function. We tested both the 4" x 1.5" IFI wheels and the 4" x 1" IFI wheels and they both had the same turning chop at high speeds, but with the weight as low as it is, we really had no issues turning. Also, the side plates are cut out of 3/16", and the cross members are 1/8" 1"x1" with 3/4" plugs in the end drilled and tapped. The entire robot, with the tower, arm, manipulator, and mini-bot deployment weighs in at 107 lbs. Thanks guys for all of the great comments, mainly we built this to be simple, reliable, lightweight, and robust.
Quote:
Originally Posted by JesseK
CIM --> 12:1 --> 6" wheel gives a speed of ~11 fps (theoretical) with direct drive. My guess is they wanted 6" wheels for the speed, yet also wanted the lower weight of 4" wheels (since there are 4 of them, that weight savings adds up). Since the outer wheels are driven via sprockets, this seems like a very logical setup for the drive train.
No troubles turning with the 1.5" wide wheels on the corners?
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