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Unread 07-05-2011, 18:13
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AKA: JJ Biel-Goebel
FRC #1389 (The Body Electric)
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Re: chassis ideas swerve

Quote:
Originally Posted by Mark Sheridan View Post
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.
I follow you. To minimize the number od drive motors they crosslinked the drives as opposed to linking two wheels on one side so that they could rotate around center. 2 ways around this are 4 drive motors or a tank style turn with side wheels linked when you are ready to rotate.

That complicates things a bit. Now i could see why this drive gets heavy.

Going back to my incorect observation about pnuematic motors. Has anyone ever used them to control low torque rotation applications. This could be a way to have 4 individual drive motors while keeping the weight down.

Thanks
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