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Unread 18-06-2014, 13:10
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Re: pic: Plywood Butterfly Drive Render

Quote:
Originally Posted by z_beeblebrox View Post
It's not too hard with the central gearbox design since you can do a second reduction with the belts to the modules. From JVN's calculator, a 12:60 reduction in the gearbox and a 24:42 reduction with the belts gives adjusted speeds of 6.4fps on the Colson wheels and 12.9 fps on the omni wheels.
The other reason we prefer to float the traction wheels is that if we lose air, or if we lose a belt in a module we default to the omni wheels which is where we spend around 90% of our time anyway.
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Unread 18-06-2014, 13:40
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Re: pic: Plywood Butterfly Drive Render

If it simplifies the design, you could consider the option of using shifters for the central gearboxes rather than a pulley reduction between the traction and omni wheel. That way, you can shift from high speed to high torque independently of which wheels are on the ground and pivoting about the traction wheel isn't a big hassle. However, this is added complexity.
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