Drive Train Prototype

[nitbaj]

Team 461 has been prototyping an omni-directional drive train concept we call Jump Drive. It switches between mecanum wheels and traction wheels to allow omnidirectional movement and also pushing power (similar to 148's "nonadrive"). We began building it in the Fall of 2009 but were only just able to complete it and get video.

Hope you enjoy it and please let us know what you think.

Video: http://www.youtube.com/watch?v=uEUIshtjbe4

Pictures: http://boilerinvasion.org/index.php?...2_itemId=24653

[Hawiian Cadder]

how much does that weigh?

[548swimmer]

Originally Posted by Hawiian Cadder

how much does that weigh?

Done properly, under 40 lbs.

[Chris is me]

Originally Posted by 548swimmer

Done properly, under 40 lbs.

Where did you find out how much 461's prototype weigh? Or any mecanum - traction combo, anyway?

I heard (if you're wondering where, in the pits at Atlanta) the 148-217 drivetrain this year, while it had an extra wheel, weighed a lot more than that.

[548swimmer]

Originally Posted by Chris is me

Where did you find out how much 461's prototype weigh? Or any mecanum - traction combo, anyway?

I heard (if you're wondering where, in the pits at Atlanta) the 148-217 drivetrain this year, while it had an extra wheel, weighed a lot more than that.

For Overdrive we had a robot with eight wheels that could switch between two sets of four. The chassis sitting in our shop weighs under 40 lbs, though barely.

[AdamHeard]

Originally Posted by 548swimmer

For Overdrive we had a robot with eight wheels that could switch between two sets of four. The chassis sitting in our shop weighs under 40 lbs, though barely.

I'm not sure what you're referring to, but when my team quotes drivetrain weight we talk EVERYTHING; wheels, electronics board, battery mount, chain, bolts, etc...

If you hit 40lbs with that standard, I'm highly impressed.

[548swimmer]

Originally Posted by AdamHeard

I'm not sure what you're referring to, but when my team quotes drivetrain weight we talk EVERYTHING; wheels, electronics board, battery mount, chain, bolts, etc...

If you hit 40lbs with that standard, I'm highly impressed.

It's about 40 lbs with all the wheels, the old IFI control system, battery MOUNT but no battery, and all the pneumatics.

[sanddrag]

Reminds me of team 980 in 2003, but they did it for switching "gears" not directions.

[Brandon Holley]

Very cool idea. I like the innovation.

As is, how much does that weigh? (not how much will it weigh eventually...)



-Brando

[Hawiian Cadder]

something i thought up that could either be more complex or simpler, a tank drive, with only omni wheels and some method to prevent sideways slip, that turned into a holonomic drive by angling the wheels. i think that because there would only be one set of wheels, it might leave more interior room for electronics and what have you.

[CENTURION]

WOW! Now that is cool

I kinda don't like how it bobs up and down when it switches wheels, but it's not really a problem (though it could easily be fixed with a few omnis, or casters)

[GarrettF2395]

Darn it! You guys beat me to it.
I've been playing around with this idea in my head for awhile now, though it's great to see someone actually build it.
Ok question time.
Is there a reason as to why you decided to have the mechanums on the outside instead of the inside?
Did you guys play around with any other configuration ideas, such as having all 8 of the wheels on the ground at once?

Great work, make sure to run some good tests on it and let us know what you find!

[Andrew Remmers]

How many Solenoids are there?

[Thelilpluck461]

There is only one Solenoid on it, and two accumulators. If you look at the start of the video it is mounted just north of the power switch.

[jamie_1930]

Originally Posted by GarrettF2395

Darn it! You guys beat me to it.
I've been playing around with this idea in my head for awhile now, though it's great to see someone actually build it.

Great work, make sure to run some good tests on it and let us know what you find!

That's pretty much what what I was going to say. I had already started CADing this and was trying to think of some other methods to switch it than pneumatic cylinders, but nonetheless I love it, keep up the good work guys.