Modular Drive System

[DavisDad]

After two FRC seasons, I've been thinking about a design for the drive system with the following characteristics:

• Modular- self contained unit that could be used year-to-year regardless of the chassis design
• Compact- our previous designs have taken up a lot of "real estate" in the chassis
• Reliable- both mechanically and controls
• Controllable- teleop control smooth and predictable
• Agile- not jerky
• Good efficiency
• Strong- takes a lickin' and keeps on tickin'
• Low maintenance

My son and I have been working on an FTC system that is performing well:




We built the prototype with a direct drive from the motor for testing. The FTC components have:

• MATRIX motor with planetary gearhead and encoder
• MATRIX motor controller uses encoder for PID speed control
• 4" VEX Mecanum wheels
• Omni-directional controls programming for Mecanum wheels

We're working on an FRC version:

• Full size CIM motor
• Encoder
• Jaguar CAN bus speed control
• Wheel hub planetary reducer, 5:1 (think Sturmey Archer bike hub)
• Bevel gear reducer 2.5:1

I'll post our progress