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#1
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pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
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#2
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
Looks nice! It looks like 148 was a bit of an inspiration (correct me if I'm wrong). Does it use chain-in-tube or are the chains just not shown?
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#3
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
This offseason, the Klein Bots decided to design a WCD Chain-In Tube drivetrain. We wanted to experiment with different options and features, so we went with a modular design strategy.
We wanted to have a versatile drive-base configuration; so we now have options to test an 8WD, 6WD, and 4WD drivetrain just by changing the configuration of the drive-tubes. We also have pockets in the bellypan to move the position of the gearboxes; which are the VexPro 2 CIM Ball Shifters, this function just gives us more options if we decide to change positions to accommodate different drive configs. We also designed what we call the "Wings", they were inspired by FRC Team 148 on their experimental drivetrains. We aren't getting these fabricated right now, this will be a future addition (hopefully). This will be our first WCD (and Chain-In Tube) so we hope to learn some things before the coming build-season if we do decide to go ahead with this design. |
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#4
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
What type of wheel drop do you plan on running?
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#5
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
We don't have a drop in the CAD, however I believe the plan is to use traction wheels and rivet an extra layer of tread on top of the existing tread. It should give us enough lift on the center wheels to avoid wheel scrub.
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#6
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
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Also, what are the giant holes in your bellypan for? Is there a mechanism being designed to go there? |
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#7
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
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#8
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
We will keep that in mind.
"We also have pockets in the bellypan to move the position of the gearboxes; which are the VexPro 2 CIM Ball Shifters, this function just gives us more options if we decide to change positions to accommodate different drive configs." |
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#9
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
I'm curious about the short length verses wide width when the center wheels are touching the carpet but the outside wheels aren't. During acceleration the four back wheels are the only ones touching and that scares me also. Our experience is that this makes for a twitchy bot when turning and an unstable bot when trying to drive fast in a straight line. Anyone have experience with this?
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#10
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
Why not go with omniwheels on the corners so that there is no need for a drop. It seems like that would result in a more stable robot than any drop center and it eliminates the need for different diameter wheels.
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#11
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
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Last edited by notmattlythgoe : 03-12-2015 at 07:41. |
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#12
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
Just for thought's sake, what would be the trade-offs of switching the 4 corner wheels out for omnis? Did you guys think about doing this at all? And if so, why did you decide against omnis?
Last edited by Jay Burnett : 03-12-2015 at 08:49. |
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#13
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
I believe you'd be lowering the amount of traction you have because you'd be taking some of the weight off of the center traction wheels and moving it to the omni wheels.
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#14
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
Is there a reduction between the gearbox output shaft and the wheels, or is a direct drive? If it is a direct drive, using the JVN Spreadsheet gives this chassis an adjusted speed of 20.5 ft/s, which is extremely fast.
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#15
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Re: pic: Klein Bots 3735 2015 Offseason Drivetrain Project CAD Rendering
Quote:
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