pic: 8-chain drivetrain (white background)

[crazyStone]

Originally Posted by Jeffy

While we are at it...
I have a few questions because I don't understand the purpose of this sort of drive train.
Mind clarifying a few things for the curious and naive?
1. Why does 4 gearboxes give better efficiency than just two?
2. What is the purpose of the shifting wheel sets?

No improvements have been made in this render over the orginial besides the color change on the background. I didn't have time to work on lately, should be able to fix the parts so that the assembly becomes more realistic. The Ratios have not been totally finalized but they are approximenly:

Traction Wheel (High) 1:24 (Low) 1:48
Omni Wheels (High) 1:6 (Low) 1:12
Weight of each drive module : 3.5 lbs (x4)
Weight of each transmission : 4.5 lbs (x2) (<-this is a design change here)
Weight of each CIM : 2.7 lbs (x4)

Weight overall : ~35 lbs for the drivetrain + 15 lbs for the frame.

total weight is 50lbs


The shifting wheel sets gives the ability for the drive train to aquire 3 different configurations.



configuration #1: push almost anything while the tractions are down (especially in low gear).
>..... > > = traction wheel
( no rotation is available)
>..... >


configuration #2: is all trick omnis down which rotates the robot around in a circle very effectively

o.....o
...r
o.....o

configuration #3 is trick omni's down in the front ( or back) and then traction down on the other side this changes the axis of rotation.

>......o
r
>......o

Those are the configurations and some of the advantages very good traction and torque coupled with 360 deg donuts at the push of a button.