pic: 1010 Drive system prototype

[Jared Russell]

Originally Posted by EricH

Remembering the previously posted sketches/pictures of the prototype, this drivetrain is rigged for keeping mecanum capability on ramps, as one end hinges. (Note: the hinge is right around the center axle). Doubles as suspension, too.

Now, here's the question: Are those axles running across the width of the robot? If so, is there any particular reason for them? I can see that one is rigged for rotational motion up and down, but not the other--was that just "I'm too lazy" or simply the way it's designed?

I believe that the axles running the width of the robot serve to link together the ball differentials of the 2nd and 4th wheels on each side. The result is that these wheels receive the "average" power of the two front or two rear motors. Thus when strafing, the 2nd and 4th wheels do not turn.