Team 41 2019 Preseason Drivetrain Design Release

This year Team 41 RoboWarriors decided to explore various unfamiliar areas of mechanical design of a drivetrain for the First Robotics Competition. The complete inventor model (and all previous versions) are located on GrabCAD (

Explored Areas/Topics:

  • Rivets versus threaded bolts
  • Two Speed shifting gearbox
  • Inverted two CIM gearbox
  • Timing belts instead of chains
  • Box Aluminum frame instead of plates with 8020 ribs
  • Using the new Tormach PCNC1100

Notes about the Design:

  • The gearbox ratios are 15:1 and 6.6:1
  • The clear green plate is space allocated for electrical components
  • The ball shifter transmission is from Vex Robotics
  • Shifting pistons are custom ordered from Bimba
  • Timing belts and sprockets are inside the 2"x2" box aluminum (24 tooth HTD sprockets with 655mm length 5mm pitch HTD belts)
  • 1/4" rivets are used to assemble box aluminum frame
  • All iterations of the gearbox and drivetrain models are included in the upload (there may be a few errors in generating the assembly in earlier models)

Design Discrepancies:

  • The compressor shown is not actual compressor used
  • Actual compressor is a similar size and didn’t have a downloadable 3D model (90C VIAIR Compressor)
  • Gearbox in latest drivetrain model is not the latest version. Slight changes had to be made during construction. A new final gearbox model is included in GrabCAD but wasn’t integrated into the drivetrain model.
  • Omni-directional wheels may be used in the front, back or both as needed!