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 ...if the penalties were not significant and match-deciding then there would not be much incentive to pay attention to them, would there? - dtengineering [more] |
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| ...if the penalties were not significant and match-deciding then there would not be much incentive to pay attention to them, would there? - dtengineering [more] |
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#1
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The "DS Swerve"
Anyone at Waterloo this past weekend will have seen our "DS Swerve", as Karthik named it.
We built an invertible swerve drive robot. The wheels on top and bottom chained together to a CIM mounted in the middle. The whole unit steered by a sprocket just above the CIM, with the wheels ganged together in a 2+2 configuration. For anyone that saw our 2009 robot, imagine its drivetrain, with an extra set of wheels glued to the top. Much as we're really proud of it, it went totally unused in Waterloo (we even TRIED to flip the bot in Qualifications 51, when we were against 1114 and 2056), and since its unnecessary, it will be scrapped before Atlanta in favour of spending the weight on making our other systems that much better. Anybody else build an invertible robot this year? 
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#2
29-03-2010, 20:31
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Re: The "DS Swerve"
1350!
  Skid steer, not swerve, but still Also, we duplicated the ball control and kicking mechanisms on both sides and our hanging mechanism can swing through the center. Flipped once in Boston, lost a transmission bearing, an accumulator tank, and a drive chain. These issues have been fixed and we have no intention of removing the extra wheels any time soon.
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#3
29-03-2010, 20:39
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Re: The "DS Swerve"
I saw 101 had it at Midwest. I think they flipped once, too, so it paid off for them.
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#4
31-03-2010, 15:39
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Re: The "DS Swerve"
Pat Fairbank took some nice pictures of our robot in its Waterloo Regional configuration last week, here's the links:
http://picasaweb.google.com/patfair/...87983404214642 Oops! How'd that get there... http://picasaweb.google.com/patfair/...87665933385058
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