[Gui Cavalcanti]

Team 422
4 years
2 CIMs (previously 2 CIMs and 2 drills)
2 6 inch wide 6 inch diameter machined aluminum wheels with hard neoprene covering
2 HDPE machined skids - 3 inch diameter touching the floor
Direct drive using a gearbox for the CIM to gear it down to the high speed of the drill; we then mated both on a giant 80-tooth gear on a 5/8" shaft to the wheels
Two-wheel drive (tank-style steering)
Two optical sensor encoder wheels to count the revolutions per minute
The giant wheels were great on the ramp, and the CIMs gave us some good pushing power.
Our robot was not symmetrical and the weight was balanced more over the skids, so we had some trouble getting weight issues settled. We eventually ended up placing over 20 pounds of dead steel weight over our drive train.

Next year we're going to deal with the symmetry issues, but this two-wheel drive was very successful, small, and modular, so I think we'll keep it.