Quote:
Originally Posted by Kevin Ainsworth
We run 100:1 on the steering gearbox with 2:1 from the gearbox to the steering wheel.
So 200:1 total reduction using a BB 550 motor.
And we only use one 1" wide wheel.
You also need to think about what happens in a defensive year when the bot gets loaded to one side and the wheel is trying to steer.
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200:1 seems a little conservative, but it is better to error on the side of robustness when it comes to swerve gearing.
I think we have hit the sweet spot this year between cool motors, and responsive controls. We are using a 64:1 P60 gearbox, fallowed by a 2:1 belt reduction for ~130:1 final reduction, on a 550 motor.
Last year, we had an 86:1 final reduction on an AM 9015. We never lost a motor because we used a torque limiting gearbox to prevent stall conditions. But the motors would frequently get hot, and the performance in pushing matches was lackluster.