Be afraid... Be VERY Afraid

[DanielDTech]

Originally Posted by JosephC

I propose three ideas.

1. Both "wheels" touch the ground at the same time.

2. The "wheels" aren't actually for driving.

3. The whole assembly pivots back and forth. This would work well for bumpy fields/ off road applications outside of FIRST.

1 and 2 are wrong. 3 is partially correct!

So it's like Octocanum but switching between two traction wheels (for different speeds/wheelbases).

[dodar]

Is the smaller wheel a kind of wheelie-bar? Such that if you are climbing something, when the bigger wheel starts to climb, the bottom wheel stays in contact with the ground.

[DanielDTech]

Originally Posted by CalTran

Oh good, now I don't feel so bad at looking at the CAD model (Which looks beautiful, by the way) and being absolutely dumbfounded about what it actually is. While the guess that it is a shifting wheel, as it stands right now it doesn't appear that either of the wheels are actuated (Might just be the angle).

I'm intrigued as to how this would be a revolutionary design both in and outside of FIRST. Perhaps once light is shed on its design I will be able to figure out how revolutionary it is.

Thank you for the CAD compliment! And yes, it's just the angle. Both wheels are actuated as a matter of fact.

[aboppana]

Originally Posted by MICHAELABICK

Smaller wheels will give you more torque. Think of a wheel like a pinion on a rack, except there is no teeth. IF you reduce the pinion size you get more torque but less speed.

This is how I usually think of it.

Anyways, is there a reason you are using belts and not gears for this? Is it for a more quiet operation?

Are the wheels of different material? Is one grippy for more traction but one slippery for ease of turning? Maybe this isn't a swerve, but a fixed unit and you have the slippery wheels to ease turning a 4-wheel long bot. But I doubt its as simple as this

[JosephC]

Could we get a top down view?

[dodar]

Wait, the slot near the big wheel looks the same size as the other side. Can this thing flip 180 degrees?

[DanielDTech]

Originally Posted by SuperNerd256

So it's like Octocanum but switching between two traction wheels (for different speeds/wheelbases).

That is the closest guess yet. But again, you're missing something huge... The part that I think is pretty difficult for anyone to guess, otherwise I wouldn't put $15 bucks on it

[EricH]

980 in 2003 used something very similar, using smaller wheels for speed and larger wheels for climbing a ramp (at least, that's what I recall them doing--it might have been the other way around). I think some other teams have done something similar. We've also seen swapping mecanums and traction wheels, as well as omnis and traction wheels. I designed one once, but it didn't get past the team brainstorming stage.


This is one quarter of a wheel-shifting drivetrain, where two different types of wheel can be changed at will, or used for climbing. Again, I don't think this is exactly revolutionary for FRC--similar things have been done on several occasions.


Now, the real question is: have you locked into using this for next year? If so, I highly suggest reconsidering. Quite simply, you don't know what the game will involve. (Hey, wheel-less robots are always an option for the GDC...) So, the thing that I'm more afraid of is: http://www.andymark.com/product-p/am-superoptions.htm

[CalTran]

I don't think it flips 180, as that CIM will have a hard time going through the mounting material. I think it's just aesthetically pleasing.

[Ankit S.]

The wheels seem cantilevered. I think thats different from the usual octanum setup.

[Garret]

I am just going to guess that it is some sort of mechanical automatic transmission. That shifts into a high torque mode when placed under additional load (such as being pushed or accelerating from standstill). Another possibility is that when this runs into something the wheels end up lifting up the robot to allow it to climb objects such as stairs or the barrier from this year easier.

Anyways beautiful model, I appreciate the detail and the actual teeth on the belt.

[Starke]

In 2004, HOT (67) had a very similar system where they had two wheels on each side of the robot that were powered by the same motor. Each wheel was actuated downward to touch the ground. This allowed them to change speed/torque ratios.

Notice the two different size black treaded wheels on the right side of the robot in the picture below.

[DanielDTech]

Originally Posted by EricH

980 in 2003 used something very similar, using smaller wheels for speed and larger wheels for climbing a ramp (at least, that's what I recall them doing--it might have been the other way around). I think some other teams have done something similar. We've also seen swapping mecanums and traction wheels, as well as omnis and traction wheels. I designed one once, but it didn't get past the team brainstorming stage.


This is one quarter of a wheel-shifting drivetrain, where two different types of wheel can be changed at will, or used for climbing. Again, I don't think this is exactly revolutionary for FRC--similar things have been done on several occasions.


Now, the real question is: have you locked into using this for next year? If so, I highly suggest reconsidering. Quite simply, you don't know what the game will involve. (Hey, wheel-less robots are always an option for the GDC...) So, the thing that I'm more afraid of is: http://www.andymark.com/product-p/am-superoptions.htm

No, we're not 100% sure that we'll use it this season, for that reason exactly. As for your guess, you are on track, but still very wrong. This is certainly revolutionary, keep in mind that there is a HUGE concept that you're not seeing here.

[rcmolloy]

I hate to do this but here's a much larger image for everyone's viewing pleasure.



Also, I'm probably 100% wrong but it could possibly be that you have an 8WD narrowed down to a single module.