Presentation on theme: "FTC Game Reveal Durham, NC September 6, 2014"— Presentation transcript:
1FTC Game Reveal Durham, NC September 6, 2014 Drive Train OptionsFTC Game Reveal Durham, NC September 6, 2014A special thank you to FTC 0001 – Team Unlimited and Andy Baker, President – Andymark Inc. for sharing their learnings and insights on drive train designWe also recognize the efforts and copyrights of other FTC teams, FIRST, LEGO Education and LEGO with regards to the contents of this workshop. Without their generosity and ideas, the FIRST Tech Challenge would not exist!
2OverviewPurposeDiscuss commonly used drive train options for the FTC competition with examples from FTC and FRC teams.
3is more important than anything else on the robot The best drive train…is more important than anything else on the robotmeets your strategy goalscan be built with your resourcesrarely needs maintenancecan be fixed within 4 minutesis more important than anything else on the robotAndy Baker, President AndyMark Inc October 2008
4Confused?Holonomic?Omni Wheel?How many wheels?Tank Drive?Mecanum?
5Chassis design Physical layout Chassis are usually rectangular Short wheelbase & wide body better for turns & side stabilityLong wheelbase & narrow body better for front-back stabilitySquare chassis a compromise for both
6Drive trains: Tank Drive Most Common2 or 4 motor drive (could be more, not usually)2, 4, or 6 wheel drive usually depending on design strategy)Direct drive is the easiest optionGearing for torque or speed, as well as power transmissionGearing up for speed can stress gear motors, increase failuresGearing or sprockets and chain used to link motors togetherTank DriveChassisTechno Warriers Advanced – FTC PTC Design Award Winner
7Drive trains: More Options! + Immediate Turning+ Increased Mobility+ Simple Control – 4 wheel independent+ Improved Turning+ High Mobility+ Good tractionLess pushing power than tank driveBouncy rideUneven playing field difficultyMore push than HolonomicComplex programmingComplex mechanicallyHard to drive – which way is forward?Mecanum DriveChassisSwerve/Crab DriveChassis
8… and yes, they do exist! FTC Team 5064 (A NC Team!) FTC Team 4112