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During the 2014 off season FRC Team 2363 Triple Helix developed a chain-in-tube WCD drivetrain. A powered drop down omni was also added to help avoid pins.
Discussion
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02-01-2015 13:18
notmattlythgoe
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
The CAD files can be found here.
02-01-2015 13:21
AdamHeard
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
I actually really like this. All the benefits of a 6wd, but it can switch to a powered 2+2 if needed.
The actuation can be really cleaned up if you switch to a pancake cylinder and just push the module down (there is some sliding contact). 3928 did this on their 2013 butterfly, and we ripped it off for our version.
Then just use some spring force to pull it up.
02-01-2015 13:27
notmattlythgoe
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
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Originally Posted by AdamHeard
I actually really like this. All the benefits of a 6wd, but it can switch to a powered 2+2 if needed.
The actuation can be really cleaned up if you switch to a pancake cylinder and just push the module down (there is some sliding contact). 3928 did this on their 2013 butterfly, and we ripped it off for our version. Then just use some spring force to pull it up. |
Do you have pictures of the method with the pancake cylinders you are talking about?
I can't take credit for this either, one of our other members cadded this up.
02-01-2015 13:58
AdamHeard
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
http://www.teamneutrino.org/seasons/...bot/butterfly/
Cylinder just pushes straight down on the top standoff.
More pics on the site if you browse.
02-01-2015 14:26
Electronica1
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
Looks pretty cool. What is the approximate weight of the what is pictured?
Also, couldn't you just replace the set of wheels opposite of the drop down wheels (aka, the back wheels) with omni wheels and have a butterfly drive pretty easily from what you have?
02-01-2015 14:36
notmattlythgoe
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
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Originally Posted by Electronica1
Looks pretty cool. What is the approximate weight of the what is pictured?
Also, couldn't you just replace the set of wheels opposite of the drop down wheels (aka, the back wheels) with omni wheels and have a butterfly drive pretty easily from what you have? |
02-01-2015 18:12
Chris is me
Re: pic: 2014 Offseason Drivetrain 2363 Triple Helix
Here's a thought - what's stopping you from having the omni wheel module straddle the drive tube? You could use some delrin blocks to transmit forces applied to the module through the whole frame, which keeps the loads more manageable. As long as you have clearance for the shaft to pivot within your drive tube (doable with chain-in-tube and the right geometry) you might like a setup like that better.
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