chassis ideas swerve

[rocknthehawk]

Originally Posted by Mark Sheridan

I talked to 1717 for a bit about how their drive train works. Until someone from their team posts, I will do my best to fill you in.

The pneumatic parts you see are for their shifters. They put the shifter mechanism on the opposite side of where the Andy-Marks are placed. I don't know the full story behind this but I have a hunch that they did this because originally they were going to have each CIM have its own gearbox and each module independently steered.

From speaking to the mentors/students, the gearboxes were designed/built in house.

As explained, you can see the left side and right side are both powered from 2 cims each on a 2 speed gearbox. The two cross belts control steering between left front/right rear and vice versa.

Mark, could you explain why they would need to stop to rotate? From watching their matches on Curie, I never saw them really stop moving.
I haven't been able to find many videos, but you can see them here: http://www.youtube.com/watch?v=n63CaX1W-pU (the red alliance robot with the black lift)

(Team 126 is looking into building a similar drivetrain for the off season)