Nonadrive Concept

[Sam Skoglund]

Originally Posted by Cothron Theiss

I took another look at this design since my last reply was from my phone, so I couldn't really see anything then. I'm gonna be a bit more critical this time around so you can correct these things early on in the design process, but if you have an explanation for something or think I'm completely wrong about something, please let me know. I think you've gone in an interesting direction with this, and it could end up being a slick design. You're trying to pack a lot of stuff into a very short profile.

Thank you so much for the detailed feedback Cothron Theiss! I will talk about your topics one by one here. If you or anyone else could answer some more questions I have that would be great!

Speed: Our team has a history of building speedy drivetrains, so my view of an "average" speed is most likely skewed. If you think that I have geared it too fast, what speeds would you recommend?

Cylinder Actuation: I agree fully that I need to revise the attachment of the cylinders to the wheel modules. Mounting them as you suggested seems like the best option. Would it work to keep them mounted as they are and connect them to the wheel module plates with a small linkage that pivots on both contact points?

Hex Shaft Collars and Sprockets: My team is addicted to these. I may eliminate some and opt for threaded shafts, but only if it means easier production and or a better final product. Price is not a factor, as we already own well over 32 of these! The extra sprockets are there because we already own that many and if one strips, the chains could be rearranged to new sprockets without disassembling the entire gearbox.

Strafing Wheel: In terms of a pushing match, I don't think it would be a bad thing to have the strafing wheel constantly pushing on the ground. The talons controlling the strafing motors could be programmed to enter brake mode whenever the drivetrain is in traction mode, so that when hit from the side, the strafing wheel would act as a brake or could even be driven to push back slightly. I think the actuation would be something to consider if the field is uneven.

Chassis: I assumed that the sheet metal bottom would provide enough rigidity, is this not correct?

Battery: Yes that is the battery. The routing of the battery wires, motor wires, and pneumatic tubing is something I have actually planned out. The battery cables will rest above the strafing module to reach the PDP. There is enough room between the strafing module and the upper sheet metal panel to do this. The pneumatic tubing and motor wires will route through a hole in the main tubing and through the drive chains (will have to protect the from shredding) to get to the electronics.

Questions I still have:
- How many motors and of what type should I use? In the current setup, while driving diagonally in omni configuration, 6 cims and 2 minicims would be running simultaneously. This seems like overkill to me.
- Does anyone know if it is possible to machine custom gearbox plates with little machining equipment? (The best tool we have access to is a mill without DRO)