Quote:
Originally Posted by Tyler2517
Its a really cool idea. I would be really scared of the gears teeth shearing off that close to the final reduction of the drive train.
This may also cause major latency in the drive train something that i don't even know if the shifting could compensate for. Also you could not do on the fly shifting and the complexity of the system is high little lone putting it in the already complex swerve drive. I love the idea tho and think that it may have uses in non drive applications.
Also a RS-540 would work well too, 775's are over kill in my opinion.
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Thanks for the input!
The gears are from a GEM planetary and are all 4140 steel IIRC, so I'm not too worried about the stripping.
Due to the wheels not reversing direction every time you shift, the only thing that the CIM has to fight against to accelerate is the inertia of the shafts and gears, not the inertia full robot like in a normal reverse. I did a small test with an unloaded cim and it would reverse instantly, but definitely something to look into. I think/hope the lack of inertia would reduce latency to almost nothing.
Unless you're talking about the sheer number of gears, which I have nothing to compensate for.
The reason I said RS-775 is so that you can turn very very quickly to compensate for not being able to reverse the cims to go backwards. Plus, anywhere you can use a 775 power-wise you can use a CIM (you would have 2 left with this drivetrain), except on a versaplanetary (preferred turning gearbox) which requires modifications.
You can't really do not-on-the-fly shifting technically, because the cim's turning is what keeps it engaged.
But in reality you could probably not shift on the fly and be okay.