pic: Front View of 2015 Robot

[Chris Mounts]

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[lynca]

Great CAD work! Thanks for sharing.

1. Are you running 6:1 reduction on 4" mecanums ?
2. What ratio are you running your lift ?
3. Why run belt/chain on two sides of your lift ? (instead of using a single chain/belt)

[notmattlythgoe]

Originally Posted by lynca

Great CAD work! Thanks for sharing.

1. Are you running 6:1 reduction on 4" mecanums ?
2. What ratio are you running your lift ?
3. Why run belt/chain on two sides of your lift ? (instead of using a single chain/belt)

If you look at the back shot picture you can see that it is actually one belt.

[Chris Mounts]

It's one continuous belt wound by two motors. The thought is that it should provide more even lift and help avoid racking.

Lift ratios are 11:72 (CIM to gear) then 18:36 timing pulley to a 4" wheel.

We're at an 11:72 reduction to the 4" wheels. It's to fast. Fingers crossed that we can work something out in code. The alternative of having a second reduction wasn't practical in the design.

[RonnieS]

Originally Posted by Chris Mounts

It's one continuous belt wound by two motors. The thought is that it should provide more even lift and help avoid racking.

Lift ratios are 11:72 (CIM to gear) then 18:36 timing pulley to a 4" wheel.

We're at an 11:72 reduction to the 4" wheels. It's to fast. Fingers crossed that we can work something out in code. The alternative of having a second reduction wasn't practical in the design.

What do you find too fast about it? We are running a similar ratio but I love it, what made you determine it was too fast?
-Ronnie

[Chris Mounts]

Wisdom of the crowd and experience. It seems like the target speed for this year is something less than 10 ft/s. This ratio should put us between 11 and 14 ft/s. Not terrible but a little fast. This is why I think our programmers can fix it in code by limiting max power to the motors.

Do you have this setup running? We ordered the wrong CIM gears and are waiting for the correct ones to arrive (hopefully today) before we can test drive it. If you do have it running, how is it going? Is it controllable? Our biggest worry right now keeping the bot from becoming a 120 lb wrecking ball to our partners towers.

[RonnieS]

Originally Posted by Chris Mounts

Wisdom of the crowd and experience. It seems like the target speed for this year is something less than 10 ft/s. This ratio should put us between 11 and 14 ft/s. Not terrible but a little fast. This is why I think our programmers can fix it in code by limiting max power to the motors.

Do you have this setup running? We ordered the wrong CIM gears and are waiting for the correct ones to arrive (hopefully today) before we can test drive it. If you do have it running, how is it going? Is it controllable? Our biggest worry right now keeping the bot from becoming a 120 lb wrecking ball to our partners towers.

Yes, ours is running. I love it but I have a lot of drive experience. That will be the main factor, I don't know what your drivers are capable of so that is hard to judge. Remember that decreasing power to motors in code with also decrease the amount of totes you may be able to push...although that shouldn't become a factor.

PM me if you have any questions about it.
-Ronnie