Omni Wheels with KOP Andy Mark Chassis

[sasha831]

Our team wants to create a slide chassis this year, and were considering doing this by switching the 4" KOP wheels provided with 6" omni wheels, and then adding two perpendicular omni wheels in the center, at each end of the frame.

Our question was whether it was possible to connect the omni wheels to the current belt drive system, what interfaces/hubs we would need, and whether or not the belt would interfere with the wheel itself?

Similar to this:
https://www.youtube.com/watch?v=JqJK0E9Jpmk

[Mike Marandola]

If you are using these, the included pulleys will interface. You will just need to make custom spacers since they are thinner than the HiGrips. The belts will not interfere with the wheel due to the pulley flange and the taper of the wheel. For 6 inch wheels you will most likely use the holes specified for the square oriented chassis. The AM14U2 User Guide says to use 151 tooth (am-2706) belts for that.

[Peyton Yeung]

The Ri3D used the kit frame and drive set up to create a slide drive.

[sasha831]

If you are using these, the included pulleys will interface.

We were planning on using the Vex ones, as we wanted a double wheel, not single. We are open to using these from AndyMark, but they are 5 times as expensive as the Vex, so Vex is prefered.

The Ri3D used the kit frame and drive set up to create a slide drive.

Yes, oRyon Labs had a slide base, but they used a custom Vex Chassis. Or were you referring to a different Ri3D team?

[Mike Marandola]

Originally Posted by sasha831

We were planning on using the Vex ones, as we wanted a double wheel, not single. We are open to using these from AndyMark, but they are 5 times as expensive as the Vex, so Vex is prefered.



Yes, oRyon Labs had a slide base, but they used a custom Vex Chassis. Or were you referring to a different Ri3D team?

You should be able to use the VEX 6 inch omnis. According to this, the VersaKey will not cause issues with the AM pulleys.

[ratdude747]

Originally Posted by Peyton Yeung

The Ri3D used the kit frame and drive set up to create a slide drive.

Video deleted.

[Mike Marandola]

Originally Posted by ratdude747

Video deleted.

This is the video that was removed. It is an AM14U2 with an 80/20 rail to support their slide gearbox.

[Charger]

Does anybody know how can we use 4" andymark omni wheels in KoP chassis? Can we just put dualie 4" Omni wheels instead of hi grip wheels or do we need to buy or make special hubs or spacers?

[sasha831]

Originally Posted by Charger

Does anybody know how can we use 4" andymark omni wheels in KoP chassis? Can we just put dualie 4" Omni wheels instead of hi grip wheels or do we need to buy or make special hubs or spacers?

If you use these, then you can just swap them with the regular wheels, however if you want to use these or these, you will need extra parts to interface them to the current belt pulleys

[Mike Marandola]

Originally Posted by sasha831

If you use these, then you can just swap them with the regular wheels, however if you want to use these or these, you will need extra parts to interface them to the current belt pulleys

Are you sure about that? The DuraOmni wheels are significantly wider than the included HiGrips. New spacers will have to be made at the very least.

[Charger]

Originally Posted by sasha831

If you use these, then you can just swap them with the regular wheels, however if you want to use these or these, you will need extra parts to interface them to the current belt pulleys

well , I think using some spacers and hubs will be enough to use 4" dualie plastic / aluminum omniwheels. But what I'm curious about is, the hubs that come with chassis, are they suitable for 4" omni wheels?

[sasha831]

Originally Posted by Charger

well , I think using some spacers and hubs will be enough to use 4" dualie plastic / aluminum omniwheels. But what I'm curious about is, the hubs that come with chassis, are they suitable for 4" omni wheels?

The provided hubs are suitable for the cheaper dura wheels, not for the dualie wheels

Originally Posted by Mike Marandola

Are you sure about that? The DuraOmni wheels are significantly wider than the included HiGrips. New spacers will have to be made at the very least.

No, that's a very good pickup, I just did the math, and you have 3.625" of space on each side, while the DuraOmni + 2 pulleys (assuming middle wheel) are 3.78". However, If you only put in the outer wheels, then that becomes 2.89", and so the two outer wheels(Green in diagram) will fit into the chassis fine(with new spacers), while the middle one(red in diagram) will not

Diagram: http://i.imgur.com/oWDiqXO.png?1

So in short, teams can use the DuraOmni with all the default gear for a 4 wheel drive, not a 6 wheel drive

[sasha831]

Originally Posted by Mike Marandola

You should be able to use the VEX 6 inch omnis. According to this, the VersaKey will not cause issues with the AM pulleys.

Will the 6" omni's have enough height clearance? They are 37mm wide, while the default Hi-Grips are 25mm wide

[Ginger Power]

Originally Posted by Mike Marandola

This is the video that was removed. It is an AM14U2 with an 80/20 rail to support their slide gearbox.

Sorry we took the video down. It got messed up while downloading. Better Video

This video better shows off the slide drive with the AM14U2.

Edit: My bad that's the same video you linked. I'm still tired from the build...

[Mike Marandola]

Originally Posted by sasha831

Will the 6" omni's have enough height clearance? They are 37mm wide, while the default Hi-Grips are 25mm wide

What do you mean by height clearance? So it doesn't hit the flanges?