2018-01-14T02:26:19Z

Drivetrain:

== Drive Base Subteam ==

==== Leads: Ben S, Jordan S, Julia P ====

===== Drive base size =====

*27 3/4" x 32 3/4"
**34 3/4" x 39 3/4" (with bumpers)
**ground clearance is 1.25 inches
**Top of Drive Base is currently at 4.5 inches with total gear clearance at 4.83 inches.

===== 6 wheels =====

*4 omni wheels with 2 colsen center wheels
**<s>6 Colson wheels will be tested</s>

gear actuated 

*gear ratio: 14-64

frame 

*TBD:  See discussion above on robot constraints.  Based on CUBE mechanism design this could be a U, an H, a rectangle, or a rectangle with notch in the preimeter angle/channel. (1/13/18) Connection needs and support needs of other mechanisms. 

Current

*Working on gearing and rail CAD, developing cross supports. 

== Daily Journal Follows: ==

1/13/2018

CAD model of the gear and wheel assemblies are close to being completed and the development of the cross members has started.  Waiting for first integration meeting to see what connection points will be requested by the cube management and robot lifting ramps will be needed. 

Weights researched on 1/11/18 were used to update the CAD model to verify the weights developed in the CAD Model.  8 pm estimated weight is just under 34 lbs with cross connections still needed.

New sketch for key dimensions:

[[File:Drivebase Dimensions.PNG]]

Mr Stoeckl did a finite element analysis (FEA) of the frame talking 1000 pound force from a bump and/or from a hit. This is the displacement:

[[File:Frame Displacement Analysis.png|RTENOTITLE]]

And here is the image showing the safety factor:

[[File:Frame Safety Factor.png|RTENOTITLE]]

1/11/2018

We determined the U-shaped rails, and ordered the material needed for it. Mentors had a late night discussion last night about the gears on the drive train, specificlly the idler gears and changing them from the 64 tooth to another size, as of now, a 72 tooth is in consideration. Plans for tonight are to work with CADing the drive base, as well as finalizing part orders. Our seconday goal is to get to work on a weight table. Below is all the dimensions you could possibly want and more for our drivetrain cad.

[[File:Dimensions 1-11-18.PNG|RTENOTITLE]]

Weight Table created and added columns with information that will be handy when constructing the CAW (Cost Assessment Worksheet / a.k.a. BOM).  Weight of gear and wheel assemblies is approx 33 lbs. This does not include cross braces and the plate planned for motor support. 

1/10/2018

Design descisions: U shaped rails to support wheels, 4 omni and 2 colson, and a 14:64 gear ratio. Goal for tonight is to get a great start on the CAD model and identify things to go on the shopping list.

Ordering pocketed gears from west coast products.

<ins>1/7/2018</ins>

After the strategy discussion, we were told to keep defense in mind along with offense, after experimenting, strategy was reassured that the drivetrain would make it up the ramp and the robot would stay stable

After lunch we conducted tests with the 2017 and 2014 drive bases with the ramp and the conduit hump and determined that the 2017 drive base as is would not work however the 2014 drive base would due to ground clearances.

Concept study on wheel height on the platform.  Verified that the base with 4 inch wheels will work on platform (included flat surface today to verify the position of the middle wheel). Also verified that the 6 inch wheel will be ok (bumper height needs to be 1.5" minimum).

modifications to the 2017 drive base to resolve previous issues[[File:A010L Drive Base lefty.jpg|RTENOTITLE]]

Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost. 

<ins>1/6/2018</ins>

Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.

4 inch wheels and 2 inch height

[[File:Ramp studie-4inch wheels 2 inch hight.png|4 inch wheels 2 inch height]]

6 inch wheels 1.5 inch height

[[File:Ramp studie-6inch wheels 1.5 inch height.png|RTENOTITLE]]

6 inch wheels 2 inch height

[[File:Ramp studie-6inch wheels 2 inch height.png|RTENOTITLE]]

8 inch wheels 2 inch height

[[File:Ramp studie-8inch wheels 2inch height.png|RTENOTITLE]]

4 inch wheels 1.5 inch height

[[File:Ramp studie-4inchwheels 1.5 inch height.png|4 inch wheels and 1.5 inch height]]

We could modify last year's drive base by changing the length, and the frame height from the ground. We can adapt it to any size based on what the other teams decide they want. This was the idea has been tested already last year and we know it is fast.

[http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png]

These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.

[[File:Notes.jpg|Notes]]

2018-01-13T21:50:05Z

Drivetrain:

2018:Drivetrain

2018-01-13T21:46:33Z

Drivetrain:

== Drive Base Subteam ==

==== Leads: Ben S, Jordan S, Julia P ====

===== Drive base size =====

*27 3/4" x 32 3/4"
**34 3/4" x 39 3/4" (with bumpers)

===== 6 wheels =====

*4 omni wheels with 2 colsen center wheels
**6 Colson wheels will be tested

gear actuated 

*gear ratio: 14-64

frame 

*TBD:  See discussion above on robot constraints.  Based on CUBE mechanism design this could be a U, an H, a rectangle, or a rectangle with notch in the preimeter angle/channel.

Current

*Working on gearing and rail design, getting items on the shopping list and CAD.

== Daily Journal Follows: ==

1/13/2018



1/11/2018

We determined the U-shaped rails, and ordered the material needed for it. Mentors had a late night discussion last night about the gears on the drive train, specificlly the idler gears and changing them from the 64 tooth to another size, as of now, a 72 tooth is in consideration. Plans for tonight are to work with CADing the drive base, as well as finalizing part orders. Our seconday goal is to get to work on a weight table. Below is all the dimensions you could possibly want and more for our drivetrain cad.

[[File:Dimensions 1-11-18.PNG|RTENOTITLE]]

1/10/2018

Design descisions: U shaped rails to support wheels, 4 omni and 2 colson, and a 14:64 gear ratio. Goal for tonight is to get a great start on the CAD model and identify things to go on the shopping list.

Ordering pocketed gears from west coast products.

<ins>1/7/2018</ins>

After the strategy discussion, we were told to keep defense in mind along with offense, after experimenting, strategy was reassured that the drivetrain would make it up the ramp and the robot would stay stable

After lunch we conducted tests with the 2017 and 2014 drive bases with the ramp and the conduit hump and determined that the 2017 drive base as is would not work however the 2014 drive base would due to ground clearances.

Concept study on wheel height on the platform.  Verified that the base with 4 inch wheels will work on platform (included flat surface today to verify the position of the middle wheel). Also verified that the 6 inch wheel will be ok (bumper height needs to be 1.5" minimum).

modifications to the 2017 drive base to resolve previous issues[[File:A010L Drive Base lefty.jpg|RTENOTITLE]]

Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost. 

<ins>1/6/2018</ins>

Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.

4 inch wheels and 2 inch height

[[File:Ramp studie-4inch wheels 2 inch hight.png|4 inch wheels 2 inch height]]

6 inch wheels 1.5 inch height

[[File:Ramp studie-6inch wheels 1.5 inch height.png|RTENOTITLE]]

6 inch wheels 2 inch height

[[File:Ramp studie-6inch wheels 2 inch height.png|RTENOTITLE]]

8 inch wheels 2 inch height

[[File:Ramp studie-8inch wheels 2inch height.png|RTENOTITLE]]

4 inch wheels 1.5 inch height

[[File:Ramp studie-4inchwheels 1.5 inch height.png|4 inch wheels and 1.5 inch height]]

We could modify last year's drive base by changing the length, and the frame height from the ground. We can adapt it to any size based on what the other teams decide they want. This was the idea has been tested already last year and we know it is fast.

[http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png]

These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.

[[File:Notes.jpg|Notes]]

2018:Drivetrain

2018-01-11T23:47:04Z

Drivetrain:

== Drive Base Subteam ==

==== Leads: Ben S, Jordan S, Julia P ====

===== Drive base size =====

*27 3/4" x 32 3/4"
**34 3/4" x 39 3/4" (with bumpers)

===== 6 wheels =====

*4 omni wheels with 2 colsen center wheels
**6 Colson wheels will be tested

gear actuated 

*gear ratio: 14-64

frame 

*TBD:  See discussion above on robot constraints.  Based on CUBE mechanism design this could be a U, an H, a rectangle, or a rectangle with notch in the preimeter angle/channel.

Current

*Working on gearing and rail design, getting items on the shopping list and CAD.

== Daily Journal Follows: ==

1/11/2018

We determined the U-shaped rails, and ordered the material needed for it. Mentors had a late night discussion last night about the gears on the drive train, specificlly the idler gears and changing them from the 64 tooth to another size, as of now, a 72 tooth is in consideration. Plans for tonight are to work with CADing the drive base, as well as finalizing part orders. Our seconday goal is to get to work on a weight table. 

1/10/2018

Design descisions: U shaped rails to support wheels, 4 omni and 2 colson, and a 14:64 gear ratio. Goal for tonight is to get a great start on the CAD model and identify things to go on the shopping list.

Ordering pocketed gears from west coast products.

<ins>1/7/2018</ins>

After the strategy discussion, we were told to keep defense in mind along with offense, after experimenting, strategy was reassured that the drivetrain would make it up the ramp and the robot would stay stable

After lunch we conducted tests with the 2017 and 2014 drive bases with the ramp and the conduit hump and determined that the 2017 drive base as is would not work however the 2014 drive base would due to ground clearances.

Concept study on wheel height on the platform.  Verified that the base with 4 inch wheels will work on platform (included flat surface today to verify the position of the middle wheel). Also verified that the 6 inch wheel will be ok (bumper height needs to be 1.5" minimum).

modifications to the 2017 drive base to resolve previous issues[[File:A010L Drive Base lefty.jpg|RTENOTITLE]]

Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost. 

<ins>1/6/2018</ins>

Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.

4 inch wheels and 2 inch height

[[File:Ramp studie-4inch wheels 2 inch hight.png|4 inch wheels 2 inch height]]

6 inch wheels 1.5 inch height

[[File:Ramp studie-6inch wheels 1.5 inch height.png|RTENOTITLE]]

6 inch wheels 2 inch height

[[File:Ramp studie-6inch wheels 2 inch height.png|RTENOTITLE]]

8 inch wheels 2 inch height

[[File:Ramp studie-8inch wheels 2inch height.png|RTENOTITLE]]

4 inch wheels 1.5 inch height

[[File:Ramp studie-4inchwheels 1.5 inch height.png|4 inch wheels and 1.5 inch height]]

We could modify last year's drive base by changing the length, and the frame height from the ground. We can adapt it to any size based on what the other teams decide they want. This was the idea has been tested already last year and we know it is fast.

[http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png]

These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.

[[File:Notes.jpg|Notes]]

2018:Drivetrain

2018-01-11T01:07:03Z

Drivetrain:

<ins></ins>1/10/2018

Design descisions: U shaped rails to support wheels, 4 omni and 2 colson, and a 14:64 gear ratio. Goal for tonight is to get a great start on the CAD model and identify things to go on the shopping list.

Ordering pocketed gears from west coast products.

<ins>1/7/2018</ins>

After the strategy discussion, we were told to keep defense in mind along with offense, after experimenting, strategy was reassured that the drivetrain would make it up the ramp and the robot would stay stable

After lunch we conducted tests with the 2017 and 2014 drive bases with the ramp and the conduit hump and determined that the 2017 drive base as is would not work however the 2014 drive base would due to ground clearances.

Concept study on wheel height on the platform.  Verified that the base with 4 inch wheels will work on platform (included flat surface today to verify the position of the middle wheel). Also verified that the 6 inch wheel will be ok (bumper height needs to be 1.5" minimum).

modifications to the 2017 drive base to resolve previous issues[[File:A010L Drive Base lefty.jpg|RTENOTITLE]]

Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost. 

<ins>1/6/2018</ins>

Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.

4 inch wheels and 2 inch height

[[File:Ramp studie-4inch wheels 2 inch hight.png|4 inch wheels 2 inch height]]

6 inch wheels 1.5 inch height

[[File:Ramp studie-6inch wheels 1.5 inch height.png|RTENOTITLE]]

6 inch wheels 2 inch height

[[File:Ramp studie-6inch wheels 2 inch height.png|RTENOTITLE]]

8 inch wheels 2 inch height

[[File:Ramp studie-8inch wheels 2inch height.png|RTENOTITLE]]

4 inch wheels 1.5 inch height

[[File:Ramp studie-4inchwheels 1.5 inch height.png|4 inch wheels and 1.5 inch height]]

We could modify last year's drive base by changing the length, and the frame height from the ground. We can adapt it to any size based on what the other teams decide they want. This was the idea has been tested already last year and we know it is fast.

[http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png]

These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.

[[File:Notes.jpg|Notes]]

2018:Drivetrain

2018-01-08T00:09:05Z

Drivetrain:

<ins>1/7/2018</ins>

After the strategy discussion, we were told to keep defense in mind along with offense, after experimenting, strategy was reassured that the drivetrain would make it up the ramp and the robot would stay stable

After lunch we conducted tests with the 2017 and 2014 drive bases with the ramp and the conduit hump and determined that the 2017 drive base as is would not work however the 2014 drive base would due to ground clearances.

Concept study on wheel height on the platform.  Verified that the base with 4 inch wheels will work on platform (included flat surface today to verify the position of the middle wheel). Also verified that the 6 inch wheel will be ok (bumper height needs to be 1.5" minimum).

modifications to the 2017 drive base to resolve previous issues[[File:A010L Drive Base lefty.jpg]]

Shopping to check aluminum gear proces for Pocketed vs non-pocketed:  West Coast Products offered a pocketed VexPro Gear.  64 tooth gear cost +$4 when pocketed by WCP.  0.183 lbs per gear reduction, all 18 gears would be 3.3 lb reduction and cost $72.  Just doing the 6 gears with load will save 1.1 lbs and cost $24.  We could put holes through the non loaded idler gears to get the weight reduction without adding the cost. 

<ins>1/6/2018</ins>

Made several drawings of different sized wheels and height of the bumpers; comparing it to the ramp.

4 inch wheels and 2 inch height

[[File:Ramp studie-4inch wheels 2 inch hight.png|4 inch wheels 2 inch height]]

6 inch wheels 1.5 inch height

[[File:Ramp studie-6inch wheels 1.5 inch height.png|RTENOTITLE]]

6 inch wheels 2 inch height

[[File:Ramp studie-6inch wheels 2 inch height.png|RTENOTITLE]]

8 inch wheels 2 inch height

[[File:Ramp studie-8inch wheels 2inch height.png|RTENOTITLE]]

4 inch wheels 1.5 inch height

[[File:Ramp studie-4inchwheels 1.5 inch height.png|4 inch wheels and 1.5 inch height]]

We could modify last year's drive base by changing the length, and the frame height from the ground. We can adapt it to any size based on what the other teams decide they want. This was the idea has been tested already last year and we know it is fast.

[http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png http://penfieldrobotics.com/wiki/images/6/69/A001_Final_Robot_Assembly_-_Larry.png]

These are our notes comparing different size wheels and sizes of things on the field to possible drive train sizes.

[[File:Notes.jpg|Notes]]

File:A010L Drive Base lefty.jpg

2018-01-07T23:55:36Z

Drivetrain: Drivetrain uploaded a new version of File:A010L Drive Base lefty.jpg

File:A010L Drive Base lefty.jpg

2018-01-07T23:08:06Z

Drivetrain: