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Unread 07-05-2011, 16:22
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Mark Sheridan Mark Sheridan is offline
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FRC #3476 (Code Orange)
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Re: chassis ideas swerve

Quote:
Originally Posted by rocknthehawk View Post
Mark, could you explain why they would need to stop to rotate? From watching their matches on Curie, I never saw them really stop moving.
To rotate their robot about its central vertical axis, they set each wheel to a 45 degree angle. I don't think they come to a dead stop before they start rotating. The nature of the turning procedure forces the robot to stop moving in the X and Y plane.

In this thread, I asked them to post more pictures of their 2010 robot.

http://www.chiefdelphi.com/forums/sh...ad.php?t=84838


Essential when rotating clockwise, let's say the right side drives forward and the left side reverses. Because the pivot action of the drive modules are actually connected front left to back right and vice versa, each sets rotate in opposite directions. Therefore the right side modules are actually facing opposition directions when rotating despite being driven from the same drive gearbox.

I hope this explains it, I finding hard to describe the motion. I have also observed that they engage the rotate motion very quickly and almost seamless with their driving. Perhaps this is due to their fast gearing in both drive and pivot.

Our team is also looking at 1717's drive train for next year, I think we will CAD it before we start asking ourselves if we actually have resources to pull it off. It would be competing against a new 6 wheel drive concept that emphasis on durability and ease of repair.
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Last edited by Mark Sheridan : 07-05-2011 at 16:23. Reason: grammer