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As Big Mike siid- this past season we used the Chiaphuas (chalupas- atwoods- chihuahuas- whatever) to drive our wheels.
The biggest problems was getting the gears (of unusual configuration) to work with the normal gear types we had available.
The solution was to machine out a reg spec gear such that the bore of the arbor was minutely smaller than the external diameter of the motor arbor. Then we froze the motors and heated the gear such that the expansion/contraction of the two allowed for the shaft to snugly fit into the gear bore when pressed on. As the two slowly came back to room temperature thermal expansion and contraction formed a snug fit which never failed us.
Of course the gears were built into a configuration which came to about 32/1 if I recall and in the wheel housing the load is shifted to sprockets which actually drive the wheels. That way, in the event of something fouling the drive train, the weakest point is the chain and that is easily repaired.
We also designed our machine to grab two goals on the run. Our two extrudable hooks were preset by software to come out as we fly towards the gap between two goals. They sit on tracks in the chassis and are held forward by a shock absorber. So as the robot hits the goals and grabs them, the impact is shifted to the shocks and the chassis stays together. The momentum of the whole system now is moving forward and inertia slams the 290 lb system into whatever is in the way. Inertia can be a good thing!!
Sorry if this is long- I really like that machine!!
WC
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