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Unread 07-05-2011, 00:47
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Mark Sheridan Mark Sheridan is offline
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Re: chassis ideas swerve

Quote:
Originally Posted by staplemonx View Post
Thanks for the photos, are those pnuematic motors attached to the steering belts or the drive belts.
I talked to 1717 for a bit about how their drive train works. Until someone from their team posts, I will do my best to fill you in.

The pneumatic parts you see are for their shifters. They put the shifter mechanism on the opposite side of where the Andy-Marks are placed. I don't know the full story behind this but I have a hunch that they did this because originally they were going to have each CIM have its own gearbox and each module independently steered.

From my conversations with one of their mentors, they choose not to go that route to conserve two banebot motors. So they have two CIMs for each gearbox

So the belts you see by the pneumatics are for drive and the ones the cross are for steering. The drive left wheels together and right wheel together. For steering, the front right wheel is connected to the back left wheel and vice versa. This means to rotate the robot, they have to come to a stop but they specifically designed their robot to minimize the need to rotate.

For my opinion, you can get away with a standard andymark shifter. The supershifter has a extra gear reduction you don't need. You will defiantly want to use all 4 CIMs if you want to cover the field as fast as 1717 does.

Another great team to look up is 1640: wiki.team1640.com/
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