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Unread 07-05-2011, 00:08
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Re: chassis ideas swerve

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Originally Posted by staplemonx View Post
Thanks for the heads up. Would the window motors work? Or should we go with pnuematic motors like 1717?
Window motors ought to work, though they might be a bit heavy.

Oh, and swerves can push. They just tend to try to avoid pushing matches by using their mobility.
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Unread 07-05-2011, 00:10
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Re: chassis ideas swerve

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Originally Posted by EricH View Post
Window motors ought to work, though they might be a bit heavy.

Oh, and swerves can push. They just tend to try to avoid pushing matches by using their mobility.
Good to know
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Unread 07-05-2011, 02:35
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Re: chassis ideas swerve

Quote:
Originally Posted by staplemonx View Post
I really liked how 1717 drove this year. So I am trying to improve on the chasis I saw this year with some guess work since i didn't get to really dive in and get to know it. pnuematic super shifter chain linked to drive shafts and window motor chain linked to drive collar. Electrical bay on the botom. 1/8 aluminum rivitied together. Assum the total chassis weight is 25lbs with rivits.

Is this about right?

Would you use banenot motors instead of window motors for steering?

Is the super shifter gear box over kill?

How much pushing power would this have?

How fast would this be with 2 or 4 cims?
JJ, it was nice meeting you in St Louis.


Both motors work for steering. Really I would suggest using the window motors if only because we have a very limited amount of high power motors (CIM, FP, BB) and using 6 of them in the drive train may not be the best use of those resources.

I have only ever seen 1 shifting swerve drive and that was from 118. Check for their 2007 video if I recall. Aside from acceleration I don't really see a point in doing that. Swerve systems are more mobile than many other platforms. This allows them to drive around obstacles rather than pushing through. Unfortunately I don't see many teams using them this way.

As for how fast it would be, perhaps take a peek at JVN's mechanical design calculator.


Now, the part you didn't ask for... If this was just a thought experiment then cool. From what Akash has told me about 3553's resources, and from my general opinions of most teams, doing a swerve drive isn't the best option in my opinion. I would feel that mastering a 6wd style base would be a very good use of time and resources. Train some phenomenal drivers and make it bullet proof. The key to a successful season is a robust and reliable drive system. Additionally, swerve systems require massive allocation of resources including driver practice (meaning you need 2 bots) and programming. The software for a swerve system is difficult and, if done wrong, can result in your system being unusable or not performing to your expectations.

The above being said, if you decide to go this route I will make two suggestions:

Prototype in Vex/FTC/Any Other Small Scale. - I cannot stress this. It will save thousands of dollars and most of the concepts will apply at the large scale.

Build two robots. - Driver practice is key with swerve, you can't just point a direction and go, there is a delay.

If you need any help (I'm not an engineer, just a programmer) Akash has all my contact info. Hope to see 3553 out on the field next year.
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Unread 07-05-2011, 03:06
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Re: chassis ideas swerve

Quote:
Originally Posted by Andrew Schreiber View Post
JJ, it was nice meeting you in St Louis.



Now, the part you didn't ask for... If this was just a thought experiment then cool.
Thanks for all of the info. I know akash wants to go the 6 wheel route for next year so that is probably where we will end up. But i want to try and design and prototype a drive base for each drive train options just to learn. Also, since we have to get kids up to speed on this stuff quickly next year i wanted them to help us build a few chassis over the summer so they can see what all of the different drive trains can do. Resources will always limit what we do so will see if we get to the swerve. You will see a few more threads like this on the other drive trains.
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