Here's the more-or-less complete version of the drivetrain, except for the finger joints, which are time-consuming and no fun to draw. Sturdier structure, lightening holes and encoder mounts are added. The pneumatic cylinder mounting is improved.
The two aluminum tubes on top are an example of how a hinged superstructure can be mounted, similar to our 2014 robot (
http://www.chiefdelphi.com/media/photos/39338).
I'd like to integrate bumper mounts into the wood frame, but am uncertain of how best to do so in a way that is simple, robust and allows for quick swaps. Anyone have ideas?
Unless anyone has ideas for improvement, next steps are probably cutting some test pieces on the laser to learn about best practices for finger joints, large parts and bearing fits before manufacturing a full drivetrain.