2084 Mecanums with Worm Drive

[lynca]

I'm excited to see more teams using worm drivetrains,

Can your robot be pushed with mecanum wheels?

[Kevin Sevcik]

I'd be a little frightened of a non-backdriveable drivetrain. I'd be especially worried about using the WormBox with its standard nylon wormwheel. At the very least, I'd put the robot on some carpet and shove until the wheels gave way to convince myself I wasn't going to shear teeth in a shoving match. I'd really want to run a robot into your robot at a decent clip to make sure the shock load on those gearboxes isn't going to destroy them.

[Aren Siekmeier]

Originally Posted by Kevin Sevcik

I'd be a little frightened of a non-backdriveable drivetrain...

The Andymark WormBox is backdriveable from what I've seen. They had a test chassis at IRI last year, and was quite capable of being backdriven.

[Djur]

Originally Posted by Kevin Sevcik

I'd be a little frightened of a non-backdriveable drivetrain. I'd be especially worried about using the WormBox with its standard nylon wormwheel. At the very least, I'd put the robot on some carpet and shove until the wheels gave way to convince myself I wasn't going to shear teeth in a shoving match. I'd really want to run a robot into your robot at a decent clip to make sure the shock load on those gearboxes isn't going to destroy them.

We've done a lot of stress testing and haven't found any problems. The gearboxes are backdrivable, but it's very hard to do.

[davidthefat]

Originally Posted by lynca

I'm excited to see more teams using worm drivetrains,

Can your robot be pushed with mecanum wheels?

But even if the gearboxes are able to handle it, there probably is not enough frisction.

[Djur]

Originally Posted by davidthefat

But even if the gearboxes are able to handle it, there probably is not enough frisction.

Not enough friction for what? If a robot tries to push us sideways, the wheels won't turn.