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#1
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Re: 967 Off Season Project
Quote:
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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#2
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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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#3
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Re: 967 Off Season Project
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We'll get our CAD model, pictures, and a video of the finished drive posted sometime early next week. Last edited by 404'd : 06-05-2012 at 15:49. |
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#4
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Re: 967 Off Season Project
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Seriously this is cool. It would be such a pan trying to T-bone you. |
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#5
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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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#6
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Re: 967 Off Season Project
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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#7
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Re: 967 Off Season Project
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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#8
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Re: 967 Off Season Project
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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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#9
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Re: 967 Off Season Project
Actually the omnis were powered.
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