Team 842's drivetrain for FIRST Stronghold!

[Bruceb]

watch your bumper zone.
When one wheel goes up the other goes down increasing the height to your bumper.

[PayneTrain]

Originally Posted by Bruceb

watch your bumper zone.
When one wheel goes up the other goes down increasing the height to your bumper.

It looks like the frame perimeter they have established does not go outside of the bumper zone when articulating.

Not surprised to see something bizarre and esoteric yet super effective from 842.

See: 2013 climber. That thing was the kind of system you joke about at kickoff, knowing it's too crazy to pull off with a bunch of students in 6 weeks. They did just fine

[falconmaster]

Originally Posted by Bruceb

watch your bumper zone.
When one wheel goes up the other goes down increasing the height to your bumper.

I think our articulation has taken into account the bumper rules.... I will let the CADers jump in...

[Ryan Dognaux]

Love the yellow wheels. Oh and the drive too.

[T3_1565]

how much do the wheels move up and down from your pivot? It seems like +/- 4 inches of movement? Maybe they move freely and have no hard top or bottom in their range?

I love it. Its good to see an "out-of-the-box" solution!

[s_forbes]

Originally Posted by Bruceb

watch your bumper zone.
When one wheel goes up the other goes down increasing the height to your bumper.

Originally Posted by T3_1565

how much do the wheels move up and down from your pivot? It seems like +/- 4 inches of movement? Maybe they move freely and have no hard top or bottom in their range?

I love it. Its good to see an "out-of-the-box" solution!

There are hard stops for the travel on all of the wheels, and travel can be limited without much trouble. I believe the largest amount of travel for a wheel on the rocker is just under 2". The nature of the rocking mechanism gives the wheels a lot of travel relative to each other without moving the frame very much. (If we lift the front wheel 3" off the ground, the frame only raises about 1.5")

We're intending to show the inspectors that the robot will sit on flat ground with any orientation of the suspension and keep the bumpers within the bumper zones. This should satisfy R22 without question, but we'll also bring our team's best lawyer just in case.

[T3_1565]

Originally Posted by s_forbes

There are hard stops for the travel on all of the wheels, and travel can be limited without much trouble. I believe the largest amount of travel for a wheel on the rocker is just under 2". The nature of the rocking mechanism gives the wheels a lot of travel relative to each other without moving the frame very much. (If we lift the front wheel 3" off the ground, the frame only raises about 1.5")

We're intending to show the inspectors that the robot will sit on flat ground with any orientation of the suspension and keep the bumpers within the bumper zones. This should satisfy R22 without question, but we'll also bring our team's best lawyer just in case.

Thanks for sharing! We have similar ideas going on! (the final product will be very different, but the ideas are similar lol) Hopefully we will have something to show soon too!

[falconmaster]

Originally Posted by Ryan Dognaux

Love the yellow wheels. Oh and the drive too.

Had to do it, school colors....

[SenorZ]

Ok, yeah, that was good.

[Joseph Smith]

Very cool!
How well does it turn on carpet? Do you have a way to actuate the rocker to simulate a center wheel drop?

[s_forbes]

Originally Posted by Joseph Smith

Very cool!
How well does it turn on carpet? Do you have a way to actuate the rocker to simulate a center wheel drop?

We are planning to lock it into a 6wd dropped center configuration with pneumatics, though this hasn't been implemented yet. One benefit of this is that we will be able to adjust how much drop we have on the center wheel to make high gear more manageable to drive.

The suspension design is heavily influenced by team 39's robot from 2010. They locked the suspension into a mecanum setup that year for navigating flat ground. You might even catch a glimpse of that robot in the background of the video at the start of this thread, if you look closely...

[Rangel(kf7fdb)]

Video showcasing more what the drivetrain can do:

https://www.youtube.com/watch?v=cyKq...ature=youtu.be

[falconmaster]

We are going to put in some faster gears!

[Nuttyman54]

Part of me wants to say that's way over-complicated, but it's so smooth and controlled I can't help but love it. There is a definite advantage to reducing the shock load on your electronics.

[page2067]

Beautiful articulation,

but the real stars are the MBS Yellow tires -

Any team that has them will shine!