21-02-2008 12:31

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

are those custom built gearboxes for the fish?

21-02-2008 12:42

Grant Cox

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Harrison's design lives on

21-02-2008 12:56

wilsonmw04

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

AM Planetaries ?

21-02-2008 13:07

Andy Baker

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Yes, AM Planetaries. John wanted ones that were red anodized, but we don't have those yet.

148... this is a bold design. It looks wonderful. I can't wait to see it in St. Louis. Kudos to your team for having the guts to take this path.

Andy B.

21-02-2008 13:12

Alex Cormier

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

ooo! now you are just making me want to see the entire robot...

or is that basically it and a fancy flag pole?

21-02-2008 14:50

Michael Corsetto

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

I'm guessing this is it, with a very fancy and robust flagpole indeed. I count 7 victors and no relays on the electronics panel from what I can see. 6 victors for the central swerve gearbox and 1 victor for the module rotation motor (a globe probably) It looks like 148 is gonna be doing a lot of laps this year, I can't wait to see it in action.

Mike C.

21-02-2008 15:09

s_forbes

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

I've seen those swerve modules somewhere before...

I think they were pulling our leg the entire time.

21-02-2008 15:18

Travis Covington

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

What? Us? Never! ...

21-02-2008 15:30

alex1699

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

what that is crazy.!.?!?!...

21-02-2008 15:34

clydefrog88

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

any chance of getting a shot of the other side of the transmission? It looks awesome. Also, what's the top speed?

21-02-2008 15:41

gallo26

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Those look absolutely amazing!!!!!!!
That completely defeated the problem with swerve/krab drive. Having to constantly rewind the wires on the drive motors. This here got rid if that! looks awsome!
possible to maybe get some designs for our summer robot!

Maybe another pic from the other side?

BTW Good luck at competitions!! see you guys at the Bayou Regional!

21-02-2008 15:45

Amanda Morrison

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

http://www.chiefdelphi.com/media/photos/30609?

Wait a minute... there's balls in this year's game?! Why didn't anyone tell us?

In reality, our students decided on our strategy this year. We worked together as a team to brainstorm ideas at the beginning of the season, and they liked the 'racecar' idea best. We prototyped and later decided as a team to proceed with the design you currently see. The very nice compliments on our 'gutsy strategy' really should be directed to the young ladies and gentlemen on our team who worked very hard on this year's robot and never faltered in their decision to make it work. It has been a long time since I've seen kids this dedicated to their creation.

21-02-2008 15:57

Brandon Martus

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

http://www.chiefdelphi.com/media/photos/30612

Last one -- don't want the photo admins to get mad.

21-02-2008 16:30

Jacob Paikoff

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

How much does that gearbox weigh?

21-02-2008 17:00

Qbranch

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Holy cow I don't know if the main breaker can even handle that much ampereage!

Do you have any trouble with anything popping/blowing if you slam it into forward (or switch directions)?

Awesome! Now I REALLY can't wait for that video!

-q

21-02-2008 17:02

Rich Kressly

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Gah.....ahhhhh......ummmmm.......holy......... I suppose not everything in Texas is big

Speechless. Entirely speechless. Well not entirely....

Elegant, innovative, and a total commitment to a strategy. There's so much about this robot I like, I had a hard time picking a thread to post in. Perhaps this is the perfect time for JVN to tell us his thoughts on Tumbleweed and the experience the 148 students had in the process. You've been really quiet for months and I know you're watching ... and there are so many of us out here that LOVE to learn from you

21-02-2008 18:41

Dan Richardson

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

ohhhhhhhh pretty



Well we've seen some bots do 10 laps in 60 seconds, I'd imagine this would have to be comparable or better. 20 Laps is 40 points, add some for auton and you've got a winning bot. Can't wait to see you guys in the big easy ( that is if I get to go :-( )

24-02-2008 19:59

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Woah! Very nice!

It's nice to see the influence of such a prominent team, the Robonauts, displayed all around. Their idea of the V6 seems to have been simplified so wonderfully! I love how you rolled from their enormous system into such a small package.

Bravo!

24-02-2008 21:08

Cory

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Not to take anything away from the Robonauts, who clearly have a great design, but it seems like the decision to do what 148 did was simply out of necessity.

If you want to go 20 fps you need 6 motors.

If you need 6 motors and want to use a crab drive, you have to do coaxial crab.

If you want to save weight/complexity, you use 3 wheels.

If you use 3 wheels, you have to use all 6 motors in one gearbox.

I think both are each very much their own designs.

24-02-2008 21:18

EricH

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Really...This from a team known for putting 2 CIMs and 1 FP in the same gearbox for a 6WD drop-center.

24-02-2008 21:18

Morgan Gillespie

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

You may wish to check up on the factuality of some of these statements.

24-02-2008 21:59

lukevanoort

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

True, I wouldn't necessarily make all of those statements as written, particularly in that order, but I think the point still stands. If your goal is to go as fast as robotically possible, you want 6 motors to help acceleration. If your goal is maneuverability while putting all that power to the ground, you want a swerve. Three wheel (67-esque) is a simpler and lighter way to make a swerve. With six-motors and any odd number of modules (except one module), you probably want a coaxial method powering all of them from one gearbox, otherwise you'll have an unequal power distribution between your modules. The module itself was stated to be inspired by 217's systems from about six years ago. I wouldn't be surprised if there was some Robonaut influence in the design (how they steer all the modules together, for example), but it isn't a really obvious one like using a West Coast Drive or something like that.

24-02-2008 22:09

Cory

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

If you want to do crab and need six motors*

254 has never had a 6 motor drive before. Not sure who you're referring to?

I'll stick to my guns on all of them, with the exception of the edit I made above. Those statements were not meant to be absolute truths--merely points related to 148's design choices.

I was brief in my description, but it shows you what I believe their design path to be, and why. If you think about it, I think it's not unreasonable to come to the same conclusion

24-02-2008 22:13

chaoticprout

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

24-02-2008 22:18

Karthik

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Morgan,

Although your point is well taken, you may want to be less vague with your statement. If you believe that some or all of Cory's statements aren't valid, specifically address them with your rationale.

I'm not trying to single you out, but lately there's been far too many posts where people make claimss without any real justifications.

As for the meat of Cory's post, I'll attempt to point out the flaws that I think Morgan was trying to get at.

- Although not impossible to go 20 fps without 6 motors, it is incredibly difficult to so with a typical FIRST robot. Unless your robot is significantly lighter than usual, or uses a very low traction wheel, issues such as breaker tripping and battery power become quite serious when only using four motors.
- If trying to do a swerve with 6 motors powering your modules, coaxial is by far the easiest way to do it. As you increase the motors in your system, having to rotate them with the swerve module becomes cumbersome. (In 2004 we used two two-motor swerve modules to drive our robot. Designing our modules such that they remained compact was a significant challenge.)

24-02-2008 22:26

EricH

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

Might have been 968, in 2006. I also know that 696 had 6 motors in 2005, as have other teams.

The point is, you don't have to have a crab with 6 motors. Though I see you've edited for clarity, and I do agree with the 6-motor swerve needing a coaxial (otherwise, you've got two motors loose...), unless you have a three-wheel crab, and if you have that, one wheel will have more power if you don't have a coaxial.

24-02-2008 22:29

Cory

Re: pic: Team 148 Robowranglers: Swerve Module and Motors

968 never had 6 motors either in 2006. We used one CIM and one FP per drive transmission.

Even if you had a 3 wheel crab, it would make no sense to have two wheels with two CIM's each, and one wheel with two FP motors. Hence the need for a coax drive.