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Re: Drive Systems
Team 1923 built a custom drivetrain this year that incorporates some of the best qualities of different variations of tank drive. It is constructed with C-channel like a standard tank drive, but similarly to a WCD one wheel on each side is direct driven by the gearbox allowing for us to drive to some extent even if all the chains fail. Additionally to prevent damage to the chain we run all the chain within the c-channel. The drivetrain has 5 wheels on each side (3 colsons in the center and 2 omnis out at the ends). It does not use a drop center but rather relies on the omnis out at the ends to facilitate turning with minimal scrub. We chose to use 5 wheels on each side so that we could use 4" wheels and still maintain complete control while crossing over and driving on the scoring platform.
Because we lack extensive machining resources we designed this drivetrain to be built using only a drill press and a band saw through extensive usage of VexPro VersaFrame.
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