Team 1625 Introduces their 2011 Robot: Mr. Cringerpants

[Carrington]

Originally Posted by Drivencrazy

Looks great guys! Another innovative drive-train implementation and once again I'm impressed. Care to elaborate or point me to somewhere to show me how it works?

Basically, it is a normal 6 wheel west coast style drive, only with internal belt runs rather than chain. The gearbox transfers power through the center wheel which then runs belt to the outer wheels. From the outer wheels the axles are extended inward to act as a pivot for the "Lobster Tubes" to rotate around. On one side of the lobster tube it is merely a pivot for the tube to rotate around, but on the other side there is a set of bevel gears to transfer power to one of the lobster wheels. From that lobster wheel there is an axle going through one of the wheels and it extends to the back of the lobster tube. On the end of that axle there is a pulley which runs a belt down to the other side to power the other wheel.

Originally Posted by Grim Tuesday

Correct me if I'm wrong, but do you guys have TWO drivetrains? One for forward/back, and another for strafing?

I am at a loss for words due to awesomness.

It is one drivetrain, but not all wheels are touching the ground at all times.

Originally Posted by Chris is me

I have no idea how it works and I'm not sure if I am better off keeping it that way or not.

How do the strafing wheels come into play?

Why telescope instead of a higher arm joint?

Why is your arm joint a four bar kind of thing I'm so confused

WHY HAVE YOU TURNED MY WHOLE WORLD UPSIDE DOWN THE DAY BEFORE SHIP AGAIN

Strafing wheels or come down via a pneumatic cylinder. Telescope rather than a higher arm joint was based on some strategic and control decisions. The arm has a 4 bar support system for structural integrity.

Originally Posted by JesseK

I get how the lobster actuation works (downright ingenious imo) -- the front/rear wheels are the rotation axes for the lateral wheels. Yet what really blows my mind is how the belt running between the two lateral wheels ('lobster wheels' ?) doesn't get eaten when the robot turns in place during normal operation. Is there a differential not shown?


Awesome work!

As explained above there is a set of bevel gears on two opposite corners of the robot. Essentially when you drop down the lobster tubes forward becomes left strafe and backwards becomes right strafe. Here is a picture of the bevel gears on a lobster tube:



It's actually quite fun to watch drive around with no bumpers, because all wheels spin at all times. It can really mess with your mind sometimes.