Quote:
Originally Posted by UndergroundVoid
The Question:
1. What gear ratios should i have for the tank tank system (motor to gearbox output)?
Note: I'm not stupid i know there is a series of equations to find the right ratio but I'm looking mainly for what others have done that might work for me.
2. How to solve the walking effect where i seen some robots with treads hobble as they turn and even become unbalanced that the driver has to stop?
I assume this is from the tracks not being held center because of certain belt track systems.
3. How to correctly tension the tank system, such as spring loaded or motor controller tension or to have the tracks at a fixed tension set by the frame?
General Talk:
I'm also looking for just a general what you may have done in this field of drive train and certain things you may have experienced that may help me and everyone have a better idea on how to produce tank systems to please the tank gods.
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Now to get back on subject. His question wasn't "Should I do treads?", but "How can I best do treads?".
1. I can would agree with some other posts in this thread that 2-speed is a great way to go as far as treads go. A lower gear for turning, pushing, and getting over obstacles and a higher gear for everything else. I would recommend something like a 15:1 for low gear and a 10:1 high gear but this is really something you have to play around with. I don't know what your target range is. The low gear is the most important to figure out, as the high gear is really just what you want your speed to sit at. You have to make sure with your low gear to not get screwy with the amperage.
2. The walking effect as others have mentioned is from the treads overcoming the enormous amounts of friction. A great way around this is decreasing your floor contact. Look at the picture of 522 i posted earlier.
3. From experience, I know you do want to go with some sort of tensioning system. Look at the way many teams tension chain. Many of the techniques can be replicated with belting. You want to make sure to get a good wrap on your drive pulley(s). So keep that in mind as well.
The one thing you need to realize is that More Tension = More Current Draw. Less Tension = More Slippage. You need to find a good spot.
As far as general experience goes, when I was on 269, we tried treads in 2006. We made the mistake of using friction belts instead of timing belts. Needless to say, we failed miserably and stripped out the whole drive at our second regional and replaced it with 2 wheels.