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 Coaxial swerve modules with a suspension and differential aren't normal. But on Winnovation they are. - Andrew Schreiber [more] |
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By: Humberto fig
New: 06-02-2016 13:16
Updated: 06-02-2016 13:16
Views: 2801 times
whats your opinion?
Discussion
view entire thread
06-02-2016 16:12
EricH
Re: pic: Custom drivetrain
OK, I'll bite on this one:
My first thought was "What about bumper supports?"
06-02-2016 16:13
MrBasse
Re: pic: Custom drivetrain
How is the back wheel held in? I see axles and nuts on the front two...
06-02-2016 17:17
Humberto fig
Re: pic: Custom drivetrain
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Originally Posted by EricH
OK, I'll bite on this one:
My first thought was "What about bumper supports?" |
We have already solved the bumper issue, but we want to see if you find any restriction on it.
06-02-2016 17:19
Humberto fig
Re: pic: Custom drivetrain
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Originally Posted by MrBasse
How is the back wheel held in? I see axles and nuts on the front two...
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06-02-2016 17:20
Humberto fig
Re: pic: Custom drivetrain
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Originally Posted by Joe G.
Are those stretched-out bike tires?
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06-02-2016 17:23
EricH
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
We have already solved the bumper issue, but we want to see if you find any restriction on it.
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06-02-2016 18:46
MrBasse
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
its directly connected to the motor, that is what its holding it
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06-02-2016 19:30
Kevin Sevcik
Re: pic: Custom drivetrain
My first thought upon seeing any novel tank tread solution is to wonder whether the treads are going to fall off the pulleys. In your case, I'm also wondering how much effective traction you're going to have, since you're limited by the metal-rubber coefficient of friction instead of knobby rubber-carpet.
06-02-2016 20:33
cbale2000
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
its directly connected to the motor, that is what its holding it
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My biggest concern, in addition to the one mentioned above about getting enough traction, is whether or not you'll be able to turn at all with this. Generally the scrub on a high traction drive requires teams to use at least 4 CIMs on their drive system to avoid stalling their motors when attempting to turn.
06-02-2016 20:59
Jeffy
Re: pic: Custom drivetrain
Have you driven it under full robot weight yet? Usually ~150lbs.
06-02-2016 21:01
pilleya
Re: pic: Custom drivetrain
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Originally Posted by cbale2000
Is the entire system running off of just 2 CIMs (1 on each side), and are those planetary gearboxes they're driving (if so, what reduction)?
My biggest concern, in addition to the one mentioned above about getting enough traction, is whether or not you'll be able to turn at all with this. Generally the scrub on a high traction drive requires teams to use at least 4 CIMs on their drive system to avoid stalling their motors when attempting to turn. |
06-02-2016 21:31
cbale2000
Re: pic: Custom drivetrain
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Originally Posted by pilleya
I would expect that there is a CIM on each of the front and back "wheels/pulleys".
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06-02-2016 22:01
pilleya
Re: pic: Custom drivetrain
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Originally Posted by cbale2000
If there is a CIM in the back, it would appear to be driven differently than the one in the front, as there is a threaded rod supporting the back wheel but not the front.
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06-02-2016 22:10
Chak
Re: pic: Custom drivetrain
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Originally Posted by pilleya
It looks like your correct, so if this is the case and it is only 2CIM, then it will be interesting, that means that there is also 1/2 the friction area of the pulley against the tread, that I thought that there was. It looks like a BB 220 gearbox and while it is a rugged gearbox Banebots says " We recommend using a design that supports the end of the shaft", probably isn't a huge problem here as the wheel is close to the face, but something to be aware of
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07-02-2016 03:29
Tal_Esh
Re: pic: Custom drivetrain
Excuse me for getting of the topic..
Was the orange box printed? and how?
07-02-2016 03:44
pilleya
Re: pic: Custom drivetrain
Nope, it was definitely not printed. It was probably just a container they had lying around
07-02-2016 15:00
GeeTwo
Re: pic: Custom drivetrain
I'm guessing the orange box is a printer or typewriter cover.
I'm with Kevin on the traction. I had thought at first those were 2008 KoP wheels, but I see they're metal. You probably want to put some sort of rubbery coating like truck bed liner on those.
Unless I'm missing the scale (they look like 8" wheels) or the robot is too wide to get very far up the batter, scrub forces are going to be horrendous.
07-02-2016 15:29
Cory
Re: pic: Custom drivetrain
I have serious doubts that this setup can actually move. Like literally, whether it will be able to translate motor power into forward motion.
I really, really hope you've tested this. Your interface between tread and pulley relying solely on friction (and not even having a V-belt interface or anything) is really, really bad as far as treads go. The suggestion to coat the pulleys in something with more friction honestly probably isn't even going to do the trick.
The moment someone T-bones you I don't see how your treads aren't immediately going to derail.
Not trying to be a jerk, just hoping you've already answered these questions so you don't show up to competition and have a season ending "OH SH**" moment.
07-02-2016 15:39
Ryan Dognaux
Re: pic: Custom drivetrain
The good news is if this doesn't work out, you're using the AndyMark KOP frame and can make a 6WD pretty quickly... But I'd agree with everyone else here. Run this through its paces at full weight on carpet.
07-02-2016 21:42
hectorcastillo
Re: pic: Custom drivetrain
Just curious, what is the pneumatic cylinder for? Also, it might be a good idea to put your compressor in your robot.
07-02-2016 22:08
mrnoble
Re: pic: Custom drivetrain
I was the coach of my team in 2012 when we proudly posted our robot, and I remember the feeling when people started saying "what about the bumpers?". Fortunately for you, you have a week and a half more than we did to solve the problem. Also take seriously the advice about your tank tread design.
08-02-2016 16:26
Humberto fig
Re: pic: Custom drivetrain
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Originally Posted by Cory
I have serious doubts that this setup can actually move. Like literally, whether it will be able to translate motor power into forward motion.
I really, really hope you've tested this. Your interface between tread and pulley relying solely on friction (and not even having a V-belt interface or anything) is really, really bad as far as treads go. The suggestion to coat the pulleys in something with more friction honestly probably isn't even going to do the trick. The moment someone T-bones you I don't see how your treads aren't immediately going to derail. Not trying to be a jerk, just hoping you've already answered these questions so you don't show up to competition and have a season ending "OH SH**" moment. |
Also, we will add our bumpers to show it to you.
We know you are not trying to be rude we understand your point. This is Gracious Professionalism. Thank you for that!!!
http://imgur.com/LyEvxeX
http://imgur.com/FSPYEwj
08-02-2016 20:20
MoistRobot
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
We do have a V-belt and the pulleys with the proper adjustment. Actually we obtained the belts and the pulleys out of an air-conditioning device. And we have the proper tensors also. IT has been working great so far. Friction with carpet is the only thing that we have not tested but we are looking forward to test it on carpet today.
Also, we will add our bumpers to show it to you. We know you are not trying to be rude we understand your point. This is Gracious Professionalism. Thank you for that!!! http://imgur.com/LyEvxeX http://imgur.com/FSPYEwj |
08-02-2016 23:04
Humberto fig
Re: pic: Custom drivetrain
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Originally Posted by cbale2000
Is the entire system running off of just 2 CIMs (1 on each side), and are those planetary gearboxes they're driving (if so, what reduction)?
My biggest concern, in addition to the one mentioned above about getting enough traction, is whether or not you'll be able to turn at all with this. Generally the scrub on a high traction drive requires teams to use at least 4 CIMs on their drive system to avoid stalling their motors when attempting to turn. |
We are using planetary gearbox, and there is no reduction
08-02-2016 23:06
EricH
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
We are using planetary gearbox, and there is no reduction
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09-02-2016 04:39
pilleya
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
We are using planetary gearbox, and there is no reduction
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Wait hang on a minute, so is the planetary gearbox reducing the output speed of the motor?
I sure hope so, otherwise you will have many many problems
09-02-2016 08:12
mrnoble
Re: pic: Custom drivetrain
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Originally Posted by Humberto fig
We are using planetary gearbox, and there is no reduction
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