pic: 114 2 speed Coaxial Crab Drive

[Tom Bottiglieri]

Originally Posted by 114ManualLabor

I'm sensing a little confusion...

the globe motor is the steering motor. It is not connected to the drive sprockets. The blue gearboxes are the gearboxes that drive the wheel. The steering chain has not been added as of yet.

This Crab drive is coaxial, which makes programming a tiny bit easier, and also makes the electronics guys love me more than they already do.

It looks like the "put the power to the wheels" drive transmission is modular, in the sense that it can fit on any of the 4 sides of the chassis. If this is so, good thinking! If your swerve capabilities ever give way, this gives you the option of changing your robots aspect (wide or long) without too much hassle. I've seen a bunch of teams attempt swerve drive, just to have something break midseason and have to revert to a skid steer base. Hopefully you'll have enough time to work all the bugs out and get this thing rolling for next season.

Everything else looks pretty solid, but I would recommend a some kind of chain roller/tensioner as Jaine posted.