wow...where to start...
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Originally Posted by Veselin Kolev
...However, what would still impress me a lot is seeing a two speed dog shifting swerve with four modules. It can be done quite easily too. One just has to do it. Ehhh yea I can blab on about how I designed one, but I didnt exactly make it now did I? Oh well, I've done other swerve drives so I'll live. Maybe I'll leave it as a summer project, finally make my two speed swerve. Then it could like, shove other robots WHILE dodging right past them. Spiffy, I must say.
But back on track... a possible idea for next year if anyone wants to make something like this, ever thought about having the CIM and dewalt vertical, and using bevel gears to go to the wheel? That way the drives are just really tall, but rather small turning radius. Just an idea.
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we decided to go with 3 modules rather than 4 because with three, we could independantly drive and steer each module, without taking up a massive amount of motors. we felt that more than 6-7 motors would limit us when designing the end effect. in the original version, as steve stated, there were bevel gears and the dewalts were mounted externally, but i was worried about the drive motors interfering with the rotation of the module, so we ditched that idea pretty quick. the design you see on the feild is actually revision 6 of the 'TRIumph' drivetrain. we expect to make major improvements in the coming years.
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Originally Posted by Ianworld
...For a set of 4 in the standard rectangle configuration you're going to be at just under 40 pounds for the drive...
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actually, we're only using 3 modules, for reasons stated above. the rectangular frame gives us more mounting space, and has skids at the corners to help keep us from tipping when we change directions at high speeds. though i still think the triangular frame looked cooler.
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Originally Posted by Alekat
Are you using the encoder to auto-shift?
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actually, there currently used for our auto mode, but that sounds like a real cool idea. sounds like something for the programmers to do tommorrow.
...and now the quote that makes it all worthwhile...
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Originally Posted by Ianworld
...This is basically the pinnacle of FIRST drive trains, power, speed maneuverability. Incredible.
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yeah...here on heatwave, we were sick and tired of compromises: "speed or torque", "traction or maneuverability", etc.; bump that, we want it all. all we had to compromise was simplicity.