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Unread 06-05-2012, 00:06
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Re: 967 Off Season Project

Quote:
Originally Posted by AdamHeard View Post
While I disagree with a few of the detailed decisions in this, I can't question the quality or the work ethic that brought this to existence. It's this kind of detailed and quality work in the offseason that will bring your team to the top level.

I love the bellypan, in the future I would try to add material to the bellypan specifically for electronics; it forces a clean layout and lets you mount electronics with the minimal amount of weight.

I think switching to a 2-stage gearbox, then directly driving one of those wheels would clean up the assembly and increase reliability substantially.

The webb of the diamond pattern could be decreased for maximum weight efficiency, but probably isn't too heavy now.

What is the weight of the two outer "rails"? Seems like a lot of material in there that could be pocketed out, especially with the reinforcement bumpers provide.

Why Omni on the outside, you could easily do traction without sacrificing turning speed or ability.

Overall I like it though, it definitely looks robust and quality. Don't take my questions negatively, I just hold drive trains to a ridiculous standard.
Thanks for the great reply.

I believe the outer rails are 2.25-2.5 lbs each, based on a pretty similar model that I have on my home PC. Agreed, some pocketing on those would be a good next step.

2 stage + direct drive would be smart, no doubt. We liked one stage because it is so light and simple, it puts the CIM motors a little lower, and it puts the weight right in the middle of the robot. We aren't locked into a particular gearbox, though. Two speed is also an option that we will consider. We'll try to drive this thing hard and see if we can break chains with it, and that might influence the direction we go.

There is a good reason for the omni wheels, but let me wait until the students put out their other teaser. You will probably see what we did from looking at that. We stole that wheel arrangment idea from Team Titanium, by the way. Their 2011 bot has a 2 speed 4WD with four unpowered omnis on the corners. It's a cool drive.
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Unread 06-05-2012, 15:25
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Re: 967 Off Season Project

A wild guess:
A wheel may be dropped through the hole on the frame, tilting the robot on the omni wheels. The dropped wheel is powered and lets the robot strafe.
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Unread 06-05-2012, 15:40
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Re: 967 Off Season Project

Quote:
Originally Posted by Gigakaiser View Post
A wild guess:
A wheel may be dropped through the hole on the frame, tilting the robot on the omni wheels. The dropped wheel is powered and lets the robot strafe.
I didn't think someone would guess the drive correctly this fast. Good guess! Here is a link to a video of an earlier version of this drivetrain. http://www.youtube.com/watch?v=X5rNaMhytZQ
We'll get our CAD model, pictures, and a video of the finished drive posted sometime early next week.
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Last edited by 404'd : 06-05-2012 at 15:49.
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Unread 06-05-2012, 15:53
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Re: 967 Off Season Project

Quote:
Originally Posted by 404'd View Post
I didn't think someone would guess the drive correctly this fast. Good guess! Here is a link to a video of an earlier version of this drivetrain. http://www.youtube.com/watch?v=X5rNaMhytZQ
We'll get our CAD model, pictures, and a video of the finished drive posted sometime early next week.
Very cool. Why not 3 traction wheels per side though, and the omnis at the other end from the drop down wheel?

Seriously this is cool. It would be such a pan trying to T-bone you.
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Unread 06-05-2012, 16:02
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Re: 967 Off Season Project

i know you guys are still working on it, but how much does it weigh?
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Unread 06-05-2012, 16:24
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Re: 967 Off Season Project

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Originally Posted by Gray Adams View Post
Very cool. Why not 3 traction wheels per side though, and the omnis at the other end from the drop down wheel?

Seriously this is cool. It would be such a pan trying to T-bone you.
We decided to go with the omnis in the back to center the turning circle of the robot in 8 wheel mode, if we had used 3 traction wheels then the robot would have pivoted around the middle set of traction wheels not the center.
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Unread 06-05-2012, 17:37
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Re: 967 Off Season Project

Quote:
Originally Posted by SilenNex View Post
We decided to go with the omnis in the back to center the turning circle of the robot in 8 wheel mode, if we had used 3 traction wheels then the robot would have pivoted around the middle set of traction wheels not the center.
If you drop the center 4, then you're only ever riding on 4 wheels at a time. With your weight balanced in the center, you'll only pivot on the middle 4 wheels. All turning as far as traction wheels is concerned is just like a standard 8wd, despite the omnis at the other end.
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Unread 06-05-2012, 18:16
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Re: 967 Off Season Project

Quote:
Originally Posted by gracie. View Post
i know you guys are still working on it, but how much does it weigh?
Actually, we have it finished and will upload the final pictures this week. With all of the electronics and pneumatics it weighs just under 70 lbs (not including bumpers or battery). There are a few places where we can very easily save weight, but it would be hard to get it much below 65 lbs.

Quote:
Originally Posted by Gray Adams View Post
Very cool. Why not 3 traction wheels per side though, and the omnis at the other end from the drop down wheel?
You are correct - that would make the most sense. The omni wheels on the front can't be raised much from the middle traction wheels, because otherwise you have to jack the back end up a lot more to clear all of the traction wheels in 3 wheel mode. With that in mind, we just went with all of the axles at the same height. It didn't occur to any of us to raise only the back wheels as traction wheels until we were putting this robot together.
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Unread 30-06-2012, 02:03
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Re: 967 Off Season Project

Quote:
Originally Posted by Nemo View Post
We stole that wheel arrangment idea from Team Titanium, by the way. Their 2011 bot has a 2 speed 4WD with four unpowered omnis on the corners. It's a cool drive.
Actually the omnis were powered.
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