Drivetrains Drivetrains Beach Cities Robotics – Team 294 Beach Cities Robotics – Team 294 Andrew Keisic Andrew Keisic June 2008 June 2008
Drivetrains Beach Cities Robotics – Team 294 Andrew Keisic June 2008.
Jan 18, 2016
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DrivetrainsDrivetrainsBeach Cities Robotics – Team 294Beach Cities Robotics – Team 294
Andrew KeisicAndrew Keisic
June 2008June 2008
2 - Introduction / Agenda
Sources
Copioli and Patton’s “Robot Drive Systems Fundamentals” presentation
Topics
3 - Introduction / Agenda
Center of Gravity
Types of Drive Trains
Maximizing Design
Motor Performance
Gear Ratio Calculation
Center of Gravity
A point in space where gravity acts
Why it’s important?
Determines the balance and stability of an object
Center of Gravity
Stability - what ball is the most stable? the least?
Center of Gravity
What robot is the most stable? The least?
How do you know?
What systems are inherently stable?
Center of Gravity
Putting math behind intuition
Stability Triangle
h
b2b1
α1
α2
h
b111 tan
h
b212 tan
Center of Gravity
Limit of stability is determined by the CG location
In other words – the maximum ramp
angle of a stationary robot
h
b2122 tan
h
b1111 tan
β1β2
α1
α2
Center of Gravity
Why keep it low?
Lowering the center of gravity maximizes alpha!
Stability Triangle
h
b2b1
α1
α2
Center of Gravity
BCR 2008 FRC initial CG estimate
Type of Bases
Type of Bases
Drive train configurations
simplerear wheel drive
simplefront wheel drive
simpleall wheel drive
simplecenter drive
6 wheeldrive
tracked drive There is no “right” answer!
swerve/ crab drive other?
Types of Bases
simplerear wheel drive
Type of Bases
simplefront wheel drive
Types of Bases
simpleall wheel drive
Type of Bases
simplecenter drive
Types of Bases
6 wheeldrive
Types of Bases
tracked drive
swerve/ crab drive
other?
Maximizing Design
Designing is all about tradeoffs
Speed vs torque
Low CG vs reaching high
Weight vs features
Control vs power
Maximizing Design
Requirements
Before designing a system, we must know what it needs to do
The design requirements usually stem from the game
Strategy plays a big part in the requirements
Decide the requirements as a team
For competitive robots, torque is always needed
We’re going to design for maximum torque – pushing ability
Maximizing Design: Motor Performance
Maximizing Design: Motor Performance
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