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My goal was to design a simple frame that would allow a team to quickly and easily switch between as many different drivetrain types as possible. The design should be easy to build without requiring the need of advanced machining. The swapping of drivetrains should be fast and simple requiring the least number of steps to be back testing.
This frame can quickly and easily switch between 8WD, 6WD, 4WD, H-drive, Mecanum, and Swerve. For 8WD, 6WD, 4WD, and H-drive all you have to do is swap wheels. Mecanum requires a change in pulley and belt. To use the swerve modules (from Andymark) just remove all other wheels.
I didn't add electronics because I was lazy but they can go on top for easy access. Encoders are not included at this time.
Discussion
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10-05-2015 14:17
bigbeezy
Re: pic: Multipurpose Test Platform
I have renders for the other versions but didn't want to clog up chief with a bunch of similar pictures
10-05-2015 14:18
MikLast
Re: pic: Multipurpose Test Platform
why dont you make an album on imgur or on a similar site and post the link here? i bet a lot of people (including myself) would want to see.
10-05-2015 14:22
bigbeezy
Re: pic: Multipurpose Test Platform
good call. http://imgur.com/a/feTUF/all
without the belts it may be hard to see. The middle axle (for the 6WD) is powered by the near motor. That belt would always be attached. The middle 2 wheels for the 8WD config are direct driven. A belt then powers the outer axle. The swerve wheels are just above the ground when using the other configs.
10-05-2015 15:01
GeeTwo
Re: pic: Multipurpose Test Platform
We are also interested in having a pre-built test platform with several different drive styles. We didn't really consider a design with swerve, though we were interested in most of the others. We opted to go the opposite route, to build a bunch of different platforms that were all the same size with the same mount points, which would allow us to prototype a manipulator set and drop it onto any of our drive platforms. Later, we decided that it would be even easier to just have some chassis kits on the shelf and build them to our needs.
10-05-2015 16:56
Connor McBride
Re: pic: Multipurpose Test Platform
This is really cool! Keep up the good work!
FRC 166
2013: mechanical
2014: mechanical, design, human player
2015: mechanical, design, CAD, Driver
2016: ???
10-05-2015 17:00
bigbeezy
Re: pic: Multipurpose Test Platform
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Originally Posted by GeeTwo
Later, we decided that it would be even easier to just have some chassis kits on the shelf and build them to our needs.
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10-05-2015 19:34
JesseK
Re: pic: Multipurpose Test Platform
Seems like it lacks an intake bar. This would be a marvelous Week 1 platform to use with prototyping intakes for a game piece.
On that note, it'll probably need a front/rear bumper...
10-05-2015 21:08
Rkant14
Re: pic: Multipurpose Test Platform
Great idea! This can be really useful to test various strategies for a particular game.
10-05-2015 21:23
bigbeezy
Re: pic: Multipurpose Test Platform
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Originally Posted by JesseK
Seems like it lacks an intake bar. This would be a marvelous Week 1 platform to use with prototyping intakes for a game piece.
On that note, it'll probably need a front/rear bumper... |
10-05-2015 22:09
GeeTwo
Re: pic: Multipurpose Test Platform
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Originally Posted by bigbeezy
Could you expand on your chassis kits? Do you have precut material and mounting hardware? Did you use it this year and if so how'd it work?
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For 2016, we're looking seriously at using vex versaframe and their gearboxes and shifters, which should allow us to build any of these chassis styles with customizable dimensions and gear ratios and even shifting in only a little more time.
10-05-2015 22:15
orangemoore
Re: pic: Multipurpose Test Platform
What is the purpose of putting the mounting point of the swerve modules so high? It seems to add unnecessary complexity to the frame.
Wouldn't it be simpler to run the framing straight across?
Please post again if this gets built.
10-05-2015 22:24
Nebster
Re: pic: Multipurpose Test Platform
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Originally Posted by orangemoore
What is the purpose of putting the mounting point of the swerve modules so high? It seems to add unnecessary complexity to the frame.
Wouldn't it be simpler to run the framing straight across? |
10-05-2015 23:19
bigbeezy
Re: pic: Multipurpose Test Platform
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Originally Posted by Nebster
I think it's so that when there are no wheels on the side rails, the swerve is contacting the ground. However, when wheels are added to the axles on the side, the swerve is lifted slightly off the ground for some clearance so that the side wheels are the ones doing the driving.
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15-05-2015 10:19
Mschmeh144
Re: pic: Multipurpose Test Platform
This is epic. Good work, I like how clean it looks, but of course, it may be different in person. I want to see you build one
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