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#1
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Re: pic: The real robot - Week One work
Looks good so far...
A couple suggestions: 1) Extend the shaft of your drive pulley and put a pillow block on the other side. Even though there are two supports in the gear box, you will be putting a lot of side shearing loads onto that axle. 2) Tension: Maybe you want to have a spring loaded tensioner to make sure you have good contact with those belts at all times. 3) Once you have the kit-bot frame set to go, maybe you should weld the pieces together. I would hate to see a bolt or two come loose during the competition. Good work! |
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#2
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Re: pic: The real robot - Week One work
Thanks for the many suggestions. By far the coolest thing that we have found with a week's worth of play with this urethane belting is that no tensioning system is needed at all. The elasticity and friction between the belt and the UHMW pulley is terrific. Even when the belt looks slack, it grips the pulley and does not slip. We'll look at the side load issue and may go to the two belts from the drive shaft going to a single wheel as a fail safe idea. Since the belt is under constant tension, is that making the side loads more of an issue then in previous years when we ran the Kitbot and transmissions in very much the same configuration with ansi #35 rollerchain?
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#3
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Re: pic: The real robot - Week One work
any trouble with that stuff slipping?
How thick is it? What material does it ride on? |
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#4
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Re: pic: The real robot - Week One work
There don't appear to be any as of yet. We'll be giving it a full test this week. It is extremely grippy with the plastic pulleys. The spec sheet linked above quotes friction coeficients for steel as well. This is 'v' belt @ 0.500 width on outside. The belt actually rides on the sides as it doesn't seat on the I.D. of the pulley. This means there are two surfaces gripping instead of one.
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#6
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Re: pic: The real robot - Week One work
Quote:
Well the real test on this system came in Katy, Texas during the LoneStar regional competition. They gave us fits all weekend long. During hard stops the belts would jump off the pulleys. We increased the tension and even added a flange on the side of the pulley, none of which eliminated the problem. It was very frustrating as we had driven the robot hard on the test field in the shop but nothing matches the punishment of competition. After we were eliminated in the quarterfinals in Texas we began the switch over to #35 ANSI rollerchain and sprockets and never had a problem again with the drive-train. This allowed us to put in a dead-reckoning / closed-loop hybrid mode which could clear 2 - 3 lines depending upon robot traffic. |
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#7
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Re: pic: The real robot - Week One work
Quote:
I thought you guys were on to something here, with a new, lighter alternative to roller chain. Although things did not work as well as you wished, we all should thank you for making this effort and keeping the CD community informed about it. Sincerely, Andy Baker |
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