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Originally Posted by sanddrag
Are those little orange things encoders? You might want to reconsider their placement.
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Yep encoders. This design is a prototype that we want to use in our CannonBot which is surrounded by plywood, so we figure the encoders are safe. Reasons for doing this design...
1) An improved drive system for our CannonBot that weighs around 160 lbs.
2) Mecanum drive system presents a challenge for the students to figure out during the preseason. During the build season, we may stick with a 6 wheel design like we've done for the past 3 years.
3) Give our students practice designing a transmission. Yes, there's a lot of wasted space in there, but it will easily drop into the kit chassis.
4) The angled transmissions were a way to try a new method of tensioning chain. Usually in the past there are tensioning slots like in the Kit tranny. In this design, there is a pivot on one side and on the other is a shaft in the transmission and another shaft in the chassis. In each shaft are holes, clearance in one and threaded in the other. Put some bolts through the holes and tighten to tension the chain.
5) Give our students practice in fabrication of the transmission. Currently they have just finished writing the G-Code and are in the process of CNCing their first transmission plate.
6) Give us more experience using Hex shafting and Hex broaching.
7) Give us more experience programming. We will run the robot off a Vex controller.
Thanks for all the feedback and I'll post some pics of it finished in the upcoming weeks.