Team 3489 Category 5 Presents Storm Drive

[HumblePie]

Hello CD Community,

Inspired by a trip to CMP in 2013 and the chance to spend time with the nice folks over at FRC Team 148 (Robowranglers), and the innovative gearboxes from FRC Team 192 (Gunn Robotics), we were inspired to push our creative envelope a little bit and come up with our own version of Butterfly Drive. Attached here is a representation of our competition "Storm Drive" from our 2014 entry, "Floyd Scaryweather". It utilizes a COTS worm gearbox with a 10:1 reduction, and HTD Timing belts driving 6 inch Omni wheels, along with a set of pneumatically actuated drop-down traction wheels with a 2.1:1 reduction. The theoretical top speed is 14ft/sec in high speed, and 6.7ft/sec in traction mode. With the fully enclosed gearbox and belt drive, the robot is eerily quiet. The gearbox utilizes a 3-start worm, and can be pushed (not easily) after a break-in period.

The main goal of this design was to utilize the space between the frame rails in a way that the center of the chassis could be largely open. Our results were largely positive. The main issue encountered was with ratcheting encountered during a quick change of direction. We attempted to control acceleration/deceleration through software, but we're unsure if it was effective. We didn't encounter a lot of pushing matches in competition, but the low speed operation seemed to work as intended. Future iterations would likely include larger pulleys for greater engagement, closer c-c distances (0.5mm "slop" seems to be too much) or possibly converting from 9 to 15mm wide belts.

So, please ask and comment away!

[Abhishek R]

Wow. This is really cool. Do you have any video of it in action?

[madhav]

I know what I want for Christmas

[cxcad]

Why are the traction wheels more inside than the omnis? Having the traction wheels on the outside would provide more stability.

[Bryce Paputa]

How much does a module weigh?

[HumblePie]

Originally Posted by Bryce Paputa

How much does a module weigh?

I haven't weighed an individual module, but our entire chassis, including all wiring and controls, sans battery and bumpers weighed in at 61lbs.

[notmattlythgoe]

Originally Posted by cxcad

Why are the traction wheels more inside than the omnis? Having the traction wheels on the outside would provide more stability.

Wouldn't this depend on what you plan on having for your primary drive wheels?

[wilsonmw04]

Originally Posted by notmattlythgoe

Wouldn't this depend on what you plan on having for your primary drive wheels?

Exactly, We use an orientation similar to this. It works well.

[Andrew Schreiber]

Originally Posted by notmattlythgoe

Wouldn't this depend on what you plan on having for your primary drive wheels?

Not really. Having the traction wheels on the outside makes you more stable when they are down. You are less likely to be spun (longer moment) and, have a bigger contact patch to keep your CG inside and prevent tipping. You don't need to worry about either of these with omni wheels due to them being slippy by design. (It's real hard to tip an omni bot due to them just sliding away and their habit of preserving their inertia, and spinning them is almost always easier no matter their contact patch)


Basically, there's design benefits to having your traction wheels on the outside. I can't come up with any obvious ones to having your omnis on the outside.

[Bryce Paputa]

Originally Posted by Andrew Schreiber

Not really. Having the traction wheels on the outside makes you more stable when they are down. You are less likely to be spun (longer moment) and, have a bigger contact patch to keep your CG inside and prevent tipping. You don't need to worry about either of these with omni wheels due to them being slippy by design. (It's real hard to tip an omni bot due to them just sliding away and their habit of preserving their inertia, and spinning them is almost always easier no matter their contact patch)


Basically, there's design benefits to having your traction wheels on the outside. I can't come up with any obvious ones to having your omnis on the outside.

I personally haven't driven a multiple wheel type robot in a while, but I would think that, depending on the game and your strategy, having a slight bit of turning ability in traction mode could be helpful to reduce the amount of wheel actuations.

[Max Boord]

Originally Posted by Bryce Paputa

I personally haven't driven a multiple wheel type robot in a while, but I would think that, depending on the game and your strategy, having a slight bit of turning ability in traction mode could be helpful to reduce the amount of wheel actuations.

The problem with having traction wheels on the inside is that if your getting pushed its not uncommon to be tipped onto the outer omni wheels negating the effect of the traction wheels.

[Andrew Schreiber]

Originally Posted by Bryce Paputa

I personally haven't driven a multiple wheel type robot in a while, but I would think that, depending on the game and your strategy, having a slight bit of turning ability in traction mode could be helpful to reduce the amount of wheel actuations.

I can think of a number of times when locking my orientation is beneficial. Auton being the obvious one but any game wherein I have to line up to score while NOT in a safe zone.

If you are using small cylinders for actuation the air use is minimal. Add another tank. To me the benefit of knowing that I physically CANNOT turn under my own power far outweighs the downsides of adding a half pound of air tank.

[BJC]

Originally Posted by Andrew Schreiber

Basically, there's design benefits to having your traction wheels on the outside. I can't come up with any obvious ones to having your omnis on the outside.

If you would like to be able to turn while in the traction mode putting your traction wheels on the inside might be a good idea. Like you said, the longer the wheelbase the harder it is to turn. Sometimes that's a good thing, sometimes not so much.

The designer needs to identify what they are trying to gain by having two separate sets of wheels and make decisions accordingly.

, Bryan

[wilsonmw04]

Originally Posted by Andrew Schreiber

Not really. Having the traction wheels on the outside makes you more stable when they are down. You are less likely to be spun (longer moment) and, have a bigger contact patch to keep your CG inside and prevent tipping. You don't need to worry about either of these with omni wheels due to them being slippy by design. (It's real hard to tip an omni bot due to them just sliding away and their habit of preserving their inertia, and spinning them is almost always easier no matter their contact patch)


Basically, there's design benefits to having your traction wheels on the outside. I can't come up with any obvious ones to having your omnis on the outside.

Come by our pits sometime. My kids would like to show you the advantages of a small traction wheelbase octocanum.

[Andrew Schreiber]

Originally Posted by wilsonmw04

Come by our pits sometime. My kids would like to show you the advantages of a small traction wheelbase octocanum.

Or you could tell me and save me a trip... I'll ignore that I said nothing about mecanum wheels.