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By: Bob Steele
New: 22-01-2009 00:45
Updated: 22-01-2009 00:45
Views: 2705 times
Our first attempt at a crab/swerve drive.
Discussion
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22-01-2009 01:02
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
A newer version features a Dewalt tansmission instead of the toughbox as shown. In addition, the frame has been changed to provide more support.
22-01-2009 01:52
Asa
Re: pic: Skunkswerve....team 1983
It's scary how similar it looks to our design
Are you using a coaxial design for the power/steering shafts?
Our prototype bot is working great so far, we'll post videos when we have the controls figured out
22-01-2009 02:01
R.C.
Re: pic: Skunkswerve....team 1983
Nice job on the CAD, have fun with that insane drivetrain.
22-01-2009 02:08
Re: pic: Skunkswerve....team 1983
Excellent. It's like a wide side variation of what we're building!
Have you considered powering each wheel independently, via banebots or DeWalts, in order to make a traction control system easier?
22-01-2009 02:27
dtengineering
Re: pic: Skunkswerve....team 1983
Looks like more great work from the Skunks. This will be a great design to show off swerve drive concepts to the dozens of WA rookies this year.
Looking forward to seeing it go!
Jason
22-01-2009 13:47
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
To answer some question, we are using a coaxial design for the steering/power shafts.
We considered powering all four "cans" independently, but decided that a half swerve design with a CIM powering each side would provide enough flexibility for control. As of now we can orient the front and back pair independently in addition to powering the front and back separately.
Our team discussed implementing a traction control system, but we decided that it could hinder the driver’s ability to control the robot, much like the Airbus fly-by-wire systems that have caused pilot/computer “disagreements.”
22-01-2009 15:55
Tom Line
Re: pic: Skunkswerve....team 1983
Aren't you missing tensioners for your toughbox (or dewalt) chains? Sliding the toughbox/dewalt back and forth won't work since you'll have different amounts of slack in both chains. Or am I missing a second set of slots crosswise to the set I can see?
22-01-2009 15:59
Darren Collins
Re: pic: Skunkswerve....team 1983
Very nice work 1983! Keep up the great work and we'll see you in a few weeks.
22-01-2009 17:13
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
The transmission is offset from the center of the robot, the chains will be different lengths so sliding the toughbox or Dewalt will tension both sides. If that method does not work, we are planning on making some of our own AM style tensioners for use with 25 chain.
22-01-2009 17:59
amariealbrecht
Re: pic: Skunkswerve....team 1983
thats a very interesting and crazy drivetrain! Nice work ... keep it up!
Best of Luck
Alicia Albrecht
Electrical Subteam
The Robettes 2177
22-01-2009 21:35
Sam N.
Re: pic: Skunkswerve....team 1983
I share the same emotions as Asa: It's scary how similar it looks to our design as well.
Looks very solid. Do you have a weight estimate?
Best of luck to you in fab.
23-01-2009 03:10
Hal9000
Re: pic: Skunkswerve....team 1983
We are currently assembling the shafts. We are also hoping that we can get the frame welded very soon. Me or other team members may be posting pictures soon.
24-01-2009 01:08
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
Yes, there are two bevel gears used for power transfer.
24-01-2009 01:09
Re: pic: Skunkswerve....team 1983
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Originally Posted by Dave McLaughlin
Yes, there are two bevel gears used for power transfer.
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24-01-2009 01:13
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
I would be happy to share the specs, I can post them with a picture of the updated design tomorrow.
24-01-2009 02:21
dtengineering
Re: pic: Skunkswerve....team 1983
A bit of simple traction control might come in handy. Our programmers are working on just using a PID loop in Labview (which makes such things a bit easier) to slowly ramp up wheel speed.... BUT.... with a "turbo over-ride" button for when the driver wants to put on a drifting demonstration.
I notice that even my "toy" car has a "traction control off" switch on the dashboard for when I want to light 'em up a bit.
Jason
24-01-2009 15:46
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
We are using a Boston Gear HLK101Y bevel gear. We chose this gear to allow us to swap wheels and drive effectivly on carpet after the season is over, so for use on the FRP it is WAY overkill.
24-01-2009 15:54
Re: pic: Skunkswerve....team 1983
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Originally Posted by Dave McLaughlin
We are using a Boston Gear HLK101Y bevel gear. We chose this gear to allow us to swap wheels and drive effectivly on carpet after the season is over, so for use on the FRP it is WAY overkill.
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I agree, most strength teams are used to doing is total overkill on FRP. The entire robot will slide before most parts bend...
24-01-2009 16:08
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
Thank you for the advice. After checking back with our programming team I have learned that we are putting some effort in developing a traction control system, but we are spending the majority of our time learning how to track using the camera...
24-01-2009 16:10
Dave McLaughlin
Re: pic: Skunkswerve....team 1983
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Originally Posted by CraigHickman
Excellent, we picked the same ones.
I agree, most strength teams are used to doing is total overkill on FRP. The entire robot will slide before most parts bend... |
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