2. FIRST Tech Challenge Drive Train Testing
By Techno Warriors Advanced
FTC #3486
October 15, 2015

3. Topics Project Description Requirements Basics – Drive Train Design
Drive Train Types
Testing
Science/Engineering
Conclusions
October 15, 2015

4. Project Description Built and tested seven drive train designs
Simulated FTC match environments
Tested each design with added weight to mimic various robot weights
Compiled and analyzed data to find ideal configurations for each test
October 15, 2015

5. Requirements Meets strategy goals for the game
Is built from available resources
Time
Cost
Tools for fabrication
Part 1 of game manual
Rarely needs maintenance
Is repairable within 4 minutes
Uses minimal amount of space
October 15, 2015

6. Basics – Drive Train Design
Decide strategy after kickoff
Speed
Power
Mobility
Decide how many motors will be allotted for drive train
Decide robot weight
Traction
Offensive/Defensive ability
October 15, 2015

7. Basics – Drive Train Design
Build for durability and test
Find weak points
Practice driving
Have spare parts and assemblies
Develop a project plan
Allot time for development and building
Learn technology
Know motor capabilities and limitations
Know electrical capabilities and limitations
October 15, 2015

8. Basics – Drive Train Design
Build for durability and test
Find weak points
Practice driving
Have spare parts and assemblies
Develop a project plan
Allot time for development and building
Learn technology
Know motor capabilities and limitations
Know electrical capabilities and limitations
October 15, 2015

9. Nimble: 2 wheel drive + 2 Omni caster wheels
Driven wheels
Motor
This drive train uses two direct drive 4” wheels with two 3” omni caster wheels. This robot has a base weight of 7 lbs due to its 10”x18” 80/20 frame.
October 15, 2015

10. Nimble: 2 wheel drive + 2 Omni caster wheels
This drive train uses four direct drive 4” wheels that are not connected to each other. This robot has a base weight of 7 lbs due to its 10”x18” 80/20 frame.
DrivenWheels
Motor
October 15, 2015

11. Unity: 4 wheel drive, connected
This drive train uses four direct drive 4” wheels that are connected to each other using chain (not drawn in Creo). This robot has a base weight of 9 lbs due to its 10”x18” 80/20 frame plus added chain and sprockets.
DrivenWheels
Motor
Chain
October 15, 2015

12. Robust: 10 wheel drives
This drive train uses 10 chain driven 3” wheels that are geared together with the 4 outer wheels raised. This robot was our competition robot from the season which weighed 55 lbs.
Motor
Gears
October 15, 2015

13. Whirlwind: 6 wheel drive, 2 tread types
This drive train uses 6 chain driven 4” wheels with the outer wheels being the AndyMark omni wheels and the inner wheels using either the AndyMark Performance Tread or the AndyMark Wedgetop Tread (tested separately). This robot had a base weight of 22.5 lbs.
Motor
October 15, 2015

14. Tracks: Track drive, 4 motors
This drive train uses 6 chain driven 4” wheels with the outer wheels being the AndyMark omni wheels and the inner wheels using either the AndyMark Performance Tread or the AndyMark Wedgetop Tread (tested separately). This robot had a base weight of 22.5 lbs.
Motor
October 15, 2015

15. Direction: 4 motors, not connected
This drive train uses 4 direct driven 3” omni wheels. Each wheel was driven individually to allow for multidirectional travel. This robot had a base weight of 7 lbs.
Omni
Motor
October 15, 2015

16. Testing Straight Line Speed Test Pull Test Side Drag Test Spin Test
Ramp Test
October 15, 2015

17. Conclusions Straight Line Speed Test (Seconds/Amps)
Test Data
Straight Line Speed Test (Seconds/Amps)
Pull Test (Pounds/Amps)
Side Drag Test (Pounds)
Spin Test (Time/Amps)
Overall Robot Performance
October 15, 2015

18. Speed Test Results
October 15, 2015

19. Pull Test Results
Track drive uses 3” wheels, and, therefore, gained at least 25% of power advantage compared to 4” wheels
October 15, 2015

20. Side Drag Test Results
October 15, 2015

21. Spin Test Results
October 15, 2015

22. Quick Reference Table
October 15, 2015

23. FIRST Tech Challenge Drive Train Testing
Created by FTC Team #3486 Techno Warriors Advanced
Complete Presentation available at: bit.ly/FTC3486
Feel free to contact us!
Engineering Notebook: bit.ly/FTC3486
October 15, 2015