pic: 3061 Huskie Robotics Pre-2015 WCD

I’ve spent the majority of my break on this 6 wheel hexagon shaped West Coast Drive with in-line omnis. Omnis are set in a vertical slot in the chassis so that they will remain on the ground even if some of the other wheels are lifted. 3061’s 2014 WCD suffered from extensive bearing damage due to an extended cantilever from the belts being placed on the outside of the chassis frame, as well as inadequate axial spacing causing structural damage to the shielding of the bearings. In this model, the timing belts driving the wheels have been moved to the inside of the chassis, and Vex Pro acetal washers were used to avoid such a problem.

Find the .stp file here: https://drive.google.com/file/d/0B-kM2KPAC9vwTVZ6UGk1UHBHZ1k/view?usp=sharing

Was this done in SolidWorks? If so where did you find the 2015 control system components? I’ve been needing to download them.

STEP files are available from Vex on the product pages of everything but the RoboRIO. RoboRIO CAD s available from NI; just Google “RoboRIO CAD”

I’m pretty sure this isn’t legal per 2014 rules (I don’t know if it was supposed to be, besides “change is coming”) given that the implied definition of “end” of a bumper is any corner.

4.6.8 R26
BUMPERS must be supported by the structure/frame of the ROBOT (see Figure 4-10). To be considered supported, a
minimum of ½ in. at each end of the BUMPER must be backed by the FRAME PERIMETER. Additionally, any gap
between the backing material and the frame
A. must not be greater than ¼ in. deep, or
B. not more than 8 in. wide.

This would mean that your side bumpers aren’t properly supported. The definition may be grey enough to pass at some regionals but definitely not everywhere. Be careful.


Aside from that, you don’t need to use shaft collars for attaching encoders. Just drill a hole in any driven axle and shove the shaft of the encoder in there. (http://puu.sh/bSXmC/4694259cf2.jpg) Check the discussion here for more alternatives/experiences: http://www.chiefdelphi.com/media/photos/40864

You’re totally right, I had forgotten that the side “corners” of the hexagon would be considered ends. I am working on a quick fix right now, will update when done.

As to the drive encoders, I did not realize that that configuration was possible. I’ll try that as well. Thanks for the suggestions.

Just completed the changes.

Here’s the new bumper mount for the side corners:

Here’s the new encoder mount: