Difference between revisions of "DEWBOT II Drive Train"
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[[Image:DB2_drive_detail_060211_csm.jpg|500px|right|text top|thumb|Drive detail]]DEWBOT II possessed a 2-wheel drive (2wd) / rear-wheel drive Drive-train. This drive-train was generally satisfactory. The robot's concentration of mass aft (where the drives and ball lift live) kept the rear wheels weighted and thereby avoided [[DEWBOT IV]]'s steering difficulties. | [[Image:DB2_drive_detail_060211_csm.jpg|500px|right|text top|thumb|Drive detail]]DEWBOT II possessed a 2-wheel drive (2wd) / rear-wheel drive Drive-train. This drive-train was generally satisfactory. The robot's concentration of mass aft (where the drives and ball lift live) kept the rear wheels weighted and thereby avoided [[DEWBOT IV]]'s steering difficulties. | ||
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| + | The drive-train made it almost impossible to get up the ramp at the match end to score bonus points. We only succeeded once. Running up forwards would land DEWBOT II on its back due to high & aft center-of mass. Running up backwards unweighted the rear wheels, depriving us of the needed traction. Only way to succeed was to run up backwards with a running start and allow mimentum to carry us up; a bit of a semi-controlled crash. Not for the timid. | ||
One CIM motor per side. Tank drive with Arcade control. KOP gearbox used with type 35 steel chain between drive and wheel sprockets. Encoders were installed on each of the drive wheel axles. | One CIM motor per side. Tank drive with Arcade control. KOP gearbox used with type 35 steel chain between drive and wheel sprockets. Encoders were installed on each of the drive wheel axles. | ||
Revision as of 23:57, 23 August 2009
DEWBOT II possessed a 2-wheel drive (2wd) / rear-wheel drive Drive-train. This drive-train was generally satisfactory. The robot's concentration of mass aft (where the drives and ball lift live) kept the rear wheels weighted and thereby avoided DEWBOT IV's steering difficulties.
The drive-train made it almost impossible to get up the ramp at the match end to score bonus points. We only succeeded once. Running up forwards would land DEWBOT II on its back due to high & aft center-of mass. Running up backwards unweighted the rear wheels, depriving us of the needed traction. Only way to succeed was to run up backwards with a running start and allow mimentum to carry us up; a bit of a semi-controlled crash. Not for the timid.
One CIM motor per side. Tank drive with Arcade control. KOP gearbox used with type 35 steel chain between drive and wheel sprockets. Encoders were installed on each of the drive wheel axles.
Undriven front wheels were originally swivels, but were changed to onmi wheels during the build season due to unsatisfactory performance of the swivels.
The standard KitBot frame was used, with the front U-channel replaced with a custom element to allow ball pick-up.
Drivetrain Strengths:
- driving / steering quite good
- mechanically simple - simple to control - easy design to execute
Drivetrain Weaknesses:
- DEWBOT II was easily pushed off target
- it was very difficult to get up the ramp to score bonus points (only succeeded once)
- Center-of-Mass relatively high and off-center (aft)
