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Originally Posted by rocketperson44
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The Champion Lightning Bots of Team 2010 built a somewhat similar drive system this year, but instead of both drive modules on a single turntable, they were on separate pivot points driven by a Globe motor chained to them via a 2:1 sprocket reduction. When pointed straight ahead, the system was laid out the same as in your concept drawing. The four corners of the frame had ball casters instead of omniwheels. Each drive module had 180 degrees of rotation limited by potentiometer feedback.
2010 used 2 A-M traction wheels for their driven wheels, each of which was powered by a custom 2-CIM motor single speed transmission. The wheels were mounted 16" apart, center to center. It proved to be a very maneuverable and reliable design, although the casters did make it next to impossible for them to climb ramps.
The drive modules were inspired by those used on Team 48's 2002 robot. This style of module requires plenty of clearance for the motors to freely rotate.
2010's 2007 Drive Module
Steering Linkage Overhead View
Globe Motor Mounting
Drivetrain Side View
Your solution is definitely unique - If you decide to attempt to build it, best of luck attempting to solve its particular design challenges!
It always surprises me how many teams wait until their robot is being inspected to learn how files should be used. - Richard Wallace [more] 
06-05-2007, 16:02
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