To All FIRST Folks,
This is a shameless plug for the Whitepaper Joe Pavliga has written: “Nothing But Dewalts”](http://www.chiefdelphi.com/forums/papers.php?s=&action=downloadpaper&paperid=398)
I am listed as “Co-author” There is already a thread discussion the paper. I do not mean to open up another thread on the technical issues surrounding this paper.
My intention is simply this: to get more folks to read the paper. I believe this is one of the most important robot building whitepapers out there. Because I believe there is a strong link between a reliable drivetrain and an inspirational FIRST season, I believe this paper should be required reading for all rookies and most veterans.
Below is a copy of the Foreword from the paper. Please make the time to read it.
Thank you,
Joe J.
Foreword
By Dr. Joe
I am listed as a “Co-author” of this paper. I think perhaps “Editor” or “Advisor” would have been a better word. I almost struck out the term and changed it to one of these others when I decided against it.
Before I explain, let me say that this is Joe Pavliga’s paper. He wrote the entire paper with only the briefest of outlines as to what the content should be. I essentially sent him the actual gearboxes Chief Delphi made for the 2004 season along with some spare parts. After one or two quickly dashed off e-mails and a phone conversation, Joe P. has come up with this wonderful Whitepaper. I believe it will quickly become known as one of the most important robot construction How To’s FIRSTers have access to. For this, we have Joe P to thank. He pushed me and pushed me to get the data he needed. When I wasn’t able to write it up, HE DID IT. Well done Joe P.
Now back to this idea of Co-Authorship, I was about to strike “Co-author” in deference to all the hard work that Joe P. has put into this paper. But in the end, I selfishly decided against it. If Joe P. is willing to let me share part of the credit, I am willing to let him. After all, I was more than an editor and advisor in that the idea to set out to find a FIRST friendly transmission was a very deliberate quest of mine in the summer of 2003. I purchased and evaluated many gearboxes & transmissions that summer. I even designed several simple gearboxes that I thought could be easily made by FIRST teams. Then I saw the 3 speed Dewalt XRP Drill with its metal housing and its made-for-FIRST handle attachment. I almost heard angel choirs singing. Taking the transmission apart, I felt an emotion akin to love well up in my heart. Chief Delphi built a prototype chassis using the Dewalts in the late fall of '03. When it shifted on the fly reliably using mere servos, climbed shear walls like Gollum and pushed our prior year’s robot around like a rag doll, I knew this transmission was going to change FIRST robots for the years to come.
The 2004 FIRST Season confirmed our prototype’s performance under competition conditions. Chief Delphi 9 had NBD: “Nothing But Dewalts.” Nine of these Bad Dads drove our wheels, gathered balls, powered arms & fingers, climbed stairs and, oh yeah, hung from the bar and held us there after power was cut. With 3 Regionals, the Championships, and 2 post-season competitions under our belt, not to mention hours of practice time and a practice robot, we have not had a transmission failure yet. Many of them have never been off the machine after we tighten them down the first time. After 8 years of wallowing, WALLOWING in addendems, dedendems, DP’s, and Center Distances Enlargements, after custom gearboxes wrecking havoc on my team resources and, yes, on my family life, I have become a Charter Member of the NBDA (Nothing But Dewalts Anonymous). I am helpless before a higher power. Even though I design gearboxes for a living, I cannot design a smaller, better, lighter, cheaper, easier to use transmission for FIRST robots.
I am clearly sold on this transmission. But perhaps I have not closed the deal with you. Below are some of reasons to consider using the NBD strategy:
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Robust, Light, Compact
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Easy to mount to your robot
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Easy to interface to #35 Chain
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3 Gear Ratios: 47:1, 15:1, 12:1
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Can be RELIABLY shifted “on the fly” using standard servo
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Transmission does not “pop out of gear” Set it and forget it.
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No-backdrive option (useful for hanging for example)
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Built in Slip Clutch can be used to limit torque output but does not slip when locked out.
So there you have it, my best case for using Nothing But Dewalts on your next FIRST robot. How to accomplish this? Joe P. tells all in the following instant classic. Read on…
Dr. Joe Johnson, Ph.D., P.E., Co-Author
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