Summer Drive Train Prototyping

[nrogals]

Hey Everyone,

We are looking into some new drive train layouts during the summer. Our team is definitely going to try to keep the complexity to a minimum, because we want to come out of the summer with a reliable, strong drive train.

Although holmonic, swerve, crab look cool, we don't really view them as appropriate in risk versus reward analysis.

We really would like to have the capability to be both powerful and agile. So an idea is that we would use a transmission for the first time.

4 directly powered high traction wheels Possibly smaller ones to transverse objects

Our team likes to stay away from chains, belts and so forth to a degree.

With a Transmission:
One setting would be geared low- high torque, high acceleration, fast turning, strong pushing, slow maximum velocity.
Second setting would be geared high- low torque, low acceleration, high maximum velocity.
The body of the robot would be made out a light weight material.

Does anyone have any comments on the planned features? Please be blunt. I'm ready for the heat.

Would orchestrating the shifting on four independent gearbox modules be difficult?

Has anyone looked at coupling additional motors together such as banebots to cims to get more power?

Would putting a lot of time into making the shifting and gearbox mechanisms be worth it? Does anyone see any other alternatives in getting agility and power?

Thanks for your help!!! And I wish everyone a great summer and awesome off-season.