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Unread 02-04-2006, 22:55
Daniel Morse Daniel Morse is offline
former 213 member
FRC #0213 (The Dirty Birds)
Team Role: Engineer
 
Join Date: Jan 2006
Rookie Year: 2003
Location: Vancouver, WA
Posts: 86
Daniel Morse is a jewel in the roughDaniel Morse is a jewel in the roughDaniel Morse is a jewel in the roughDaniel Morse is a jewel in the rough
Re: The advantage of holonomic drivetrains

213 decided to pursue a holonomic drive with 4 sets of dual Kornylak omni wheels mounted to the KOP gearbox mounted under our machine. We were at BAE and Boston this year, and we were a corner goal dumper. The disadvantage going into the competition we saw immediately, that being we could be pushed. When we finally got out onto the field, and had our driver perfect his method, we were actually able to become nearly as strong as the other robots. At full power we were capable of stopping (or severely impeding) our competitors. Only when we were not moving could we be pushed around. Because of our incredible maneuverability and ability to stop opponents from scoring we were often utilized as ramp defenders at the end of the match, and against high scoring teams sometimes we played nearly exclusive defense. We got to be pretty good at it (especially in Boston). The only problem came in the form of wheel durability, our wheels could easily shatter and did after matches. I suppose this was not necessarily the year for holonomic drives, but I think my team did pretty well (finals in Boston). To see videos of our matches in Boston, go to this site, and download any videos with 213 in them. You will find that a couple of them showcase the omni drive quite nicely. We are also in the eliminations (qf4m1,2 sf2m1,2,3 finals).
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Rensselaer Polytechnic Institute class of 2010 - Mechancial Engineering

Student and Mentor, Keene High School Team 213 "The Dirty Birds" 2003-2006
College Mentor, Team 1493, RPI and Albany High School "The Falcons" 2008

Last edited by Daniel Morse : 02-04-2006 at 23:02.
 


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