Quote:
Originally Posted by BBray_T1296
It is hard to see, but I am concerned that the belt may get caught between the gear and the middle CIM pinion and get chewed up. Is there a flange on the underside of those pulleys? or is there some other way to insure the belt does not ride a little too low?
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You're concern is warranted, and in the CAD there are some washers that hang over either side of those pulleys to keep the belt in place. Although, I'll admit that if I were to try and build this design, I would replace all those pulleys with fanged versions. I CADed this in a very short amount of time, when I didn't have good internet access, so I used pulleys that T already had CAD for.
Assuming that the robots center of rotation is somewhere along its mid plane. (I've found a reason of it to be anywhere else) Then a robot with this drive base would be able to translate without any skidding, or rotate without any skidding, but it would have a limited amount of skidding when rotating and translating at the same time. I say "limited", because the module is only 20" long and the other side length of the robot would most likely be about 35".