2019:Drive Base: Difference between revisions

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== Decisions and Specifications ==
== Decisions and Specifications ==


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Dimensions: 34L x less than 28W
'''NOTE: ''All specifications are per robot'''''


Wheels:
'''''Weight of Drive Base:'''''30.6 lbs (1/13/2019)


Belts:
'''Dimensions''': 34-1/4"L x 25"W x 4.312''H''


Motors:
''Length: 34-1/4" corner bracket to corner bracket. Channel length 34"''


&nbsp;
''Width: 25" from the tip of the axel(L) to tip of axel(R)''
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''Heigth: 4.312" from the floor to top of frame channels.''
 
''Bottom: 1.312" from floor to bottom of frame channels.''
 
'''Wheels''': 4 x 4" Omni wheels at the corners of the drive base. 2 x 4" Colson wheels in the center of the long dimension
 
'''Belts''': 150mm length x 9mm width x 5mm pitch (quantity: 4)
 
'''Motors''':CIM (quantity: 4)
 
'''Drive Base Frame&nbsp;Materials''':&nbsp;
 
''Left & Right Rails:&nbsp;''1"x3"x1/8" L-channel is used for the left and right outer frame rails.&nbsp; 1"x3"x1/8" C-channel is used for the left and right inner frame rails.
 
''Front & Back Rails:&nbsp;''The front and back frame rails are 1"x3"x1/8" tube. Bottom center is relieved for clearance.
</div> <div class="mw-parser-output"><div class="mw-parser-output"><div class="mw-parser-output">Final Drive Base Design:</div> <div class="mw-parser-output">[[File:2019DriveBaseFinal.PNG|600px|2019DriveBaseFinal.PNG]]</div> </div> </div> </div> </div> </div>  
== Activity Log ==
== Activity Log ==


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Saturday Week 1
=== <span style="font-size:medium;">Saturday Kickoff</span> ===


Jonathan Farnham
Jonathan Farnham
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Sunday Week 1
=== <span style="font-size:medium;">Sunday Week 1</span> ===


Jonathan Farnham
Jonathan Farnham
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*Used cad to study wheels needed for H2  
*Used cad to study wheels needed for H2  
**Tested 4,6,and 8 wheel configs   
**Tested 4,6,and 8 wheel configs   
[[File:2019 Drivebase study 4-inchx6-wheel-34-inch.PNG|x200px|2019 Drivebase study 4-inchx6-wheel-34-inch.PNG]]
[[File:2019 drivebase 4-inchx6-wheel-30-inch.PNG|x250px|2019 drivebase 4-inchx6-wheel-30-inch.PNG]]
[[File:2019 drivebase 4-inchx6-wheel-idlers-30-inch.PNG|x200px|2019 drivebase 4-inchx6-wheel-idlers-30-inch.PNG]]
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Tuesday Week 1&nbsp;
=== <span style="font-size:medium;">Tuesday Week 1&nbsp;</span> ===


By Jonathan Farnham
By Jonathan Farnham
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*Developed&nbsp;cad prototype base on variant of last years drive system  
*Developed&nbsp;cad prototype base on variant of last years drive system  
 
</div> [[File:DriveBaseSegment1.PNG|600px|DriveBaseSegment1.PNG]] <div class="mw-parser-output">
</div> [[File:DriveBaseSegment1.PNG|600px|DriveBaseSegment1.PNG]]
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Wedensday Week 1
=== <span style="font-size:medium;">Wednesday Week 1</span> ===
 
[[File:Cad1-9-19.jpg|500x500px|Cad1-9-19.jpg]][[File:Cad1-9-191.jpg|500x500px|Cad1-9-191.jpg]][[File:Cad1-9.jpg|500x500px|Cad1-9.jpg]]
 
*Making the left and right side of the potential drive base.
</div> </div> </div> </div> </div> </div> </div>
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=== <span style="font-size:medium;">Thursday Week 1</span> ===
 
*Work&nbsp;on L&nbsp;channel frame continues
 
[[File:Uchannelframe.jpg|400px|Uchannelframe.jpg]][[File:L-Channel.PNG|400px|L-Channel.PNG]]
 
*Began assembling belt drive mockup in CAD&nbsp;


[[File:Cad1-9-19.jpg|500x500px]][[File:Cad1-9-191.jpg|500x500px]][[File:Cad1-9.jpg|500x500px]]
[[File:BeltDrive.jpg|600px|BeltDrive.jpg]]
</div> </div> </div> </div> </div> </div> </div></div>
 
[[File:BeltDrive2.PNG|600px|BeltDrive2.PNG]][[File:Drivebasemockup.PNG|600px|Drivebasemockup.PNG]]
 
*Work&nbsp;on C-Channel frame to include holes at 1" spacing
 
&nbsp;
 
[[File:UchannelFrame2.png|600px|UchannelFrame2.png]]
 
----
</div> </div> </div>
=== <span style="font-size:medium;">Saturday end of week 1</span> ===
 
*<span style="font-size:small;">The sprint is on to complete the CAD work for the drive base&nbsp;</span>
*Enough of the robot is in the final assembly drawing to allow other sub-teams to start relaize their designs.
*<span style="font-size:small;">Added corner bracket&nbsp;to stiffen the frame. This increased the length (and&nbsp;&nbsp;perimeter).&nbsp;</span>
 
[[File:2019 Drive Base Frame.PNG|600px|2019 Drive Base Frame.PNG]]
 
&nbsp;
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=== Sunday Week 2 ===
 
*Finite element alalysis on frame to test for weak points:
 
[[File:Drive Base FEL Result 0 2.png|200px|Drive Base FEL Result 0 2.png]][[File:Drive Base FEL Result 0 4.png|200px|Drive Base FEL Result 0 4.png]][[File:2019 Drive Base FEL Result 0 57.png|200px|2019 Drive Base FEL Result 0 57.png]][[File:2019 Drive Base FEL Result 0 80.png|200px|2019 Drive Base FEL Result 0 80.png]][[File:2019 Drive Base FEL Result 0 81.png|200px|2019 Drive Base FEL Result 0 81.png]]
 
*Drive Base weighed in CAD: 30.6 lbs
 
&nbsp;
 
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=== Tuesday Week 2 ===
 
*Finalizing mounting locations
 
[[File:Elevator leg mount outside.PNG|600px|Elevator leg mount outside.PNG]][[File:Elevator mount inside.PNG|600px|Elevator mount inside.PNG]]
 
*Fabricating smaller parts such as channels and brackets
 
----
 
Thursday Week 2
 
*Puting cylinders on drive base frame
*updating shopping list&nbsp;
*Finalize Final Design
 
[[File:2019DriveBaseAssemblyroughdraft.png|600px|2019DriveBaseAssemblyroughdraft.png]]
 
[[File:2019finalassemblyincomplete1.png|600px|2019finalassemblyincomplete1.png]]
 
*Fabricated L-Channel and C-Channel frame
 
[[File:2019Cchannelframe.jpeg|600px|2019Cchannelframe.jpeg]][[File:2019FabricatingLchannel.jpeg|600px|2019FabricatingLchannel.jpeg]]
 
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Sunday Week 4
 
*Assembled drive base
 
[[File:Brive Base Assembly 1 2019.jpeg|600px|Brive Base Assembly 1 2019.jpeg]]
 
*Tested drive base
*Climbed HAB lvl.1
*Drive base Assembled and Completed
*Electical and programming is the only part left to completly finish drive base
 
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Tuesday Week 4
 
*Battery Box Cading/Assembly
 
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Latest revision as of 09:38, 10 February 2019

Decisions and Specifications

NOTE: All specifications are per robot

Weight of Drive Base:30.6 lbs (1/13/2019)

Dimensions: 34-1/4"L x 25"W x 4.312H

Length: 34-1/4" corner bracket to corner bracket. Channel length 34"

Width: 25" from the tip of the axel(L) to tip of axel(R)

Heigth: 4.312" from the floor to top of frame channels.

Bottom: 1.312" from floor to bottom of frame channels.

Wheels: 4 x 4" Omni wheels at the corners of the drive base. 2 x 4" Colson wheels in the center of the long dimension

Belts: 150mm length x 9mm width x 5mm pitch (quantity: 4)

Motors:CIM (quantity: 4)

Drive Base Frame Materials: 

Left & Right Rails: 1"x3"x1/8" L-channel is used for the left and right outer frame rails.  1"x3"x1/8" C-channel is used for the left and right inner frame rails.

Front & Back Rails: The front and back frame rails are 1"x3"x1/8" tube. Bottom center is relieved for clearance.

Final Drive Base Design:
2019DriveBaseFinal.PNG

Activity Log

Saturday Kickoff

Jonathan Farnham

  • Kickoff
  • Prelimanary ideas developed by drive base team
  • Areas of concern
    • Ramp to H1: 3 inches
    • H2 height above bumpers
    • Drive base will never scale H3
 

Sunday Week 1

Jonathan Farnham

  • Developed four inch wheel prototype
  • DriveBasePrototype1.jpeg
  • Used field to test four inch wheels on ramp

 

  • Used cad to study wheels needed for H2
    • Tested 4,6,and 8 wheel configs

2019 Drivebase study 4-inchx6-wheel-34-inch.PNG

2019 drivebase 4-inchx6-wheel-30-inch.PNG

2019 drivebase 4-inchx6-wheel-idlers-30-inch.PNG

 

 

 

 

 

 

Tuesday Week 1 

By Jonathan Farnham

  • Decisions being made about drive train configuration
    • Wheel size decisions need to be made
    • Choice of  motor needs to be made: Cim or Neo
    • Number of wheels needs to be decided
  • Mr.C developed skid plate study for 4 inch wheel

SkidPlateStudy.jpgSkidPlateStudyDetail.jpg

 

  • Developed cad prototype base on variant of last years drive system
DriveBaseSegment1.PNG

 

  • Waiting on decision from strategy about habitat 2 or habitat 3 requirement
    • Does drive base have to scale H2?
    • If we scale H3 then can we use smaller wheels on drive base?
    • Does drive base have to develop H2 solution?
  • Length of robot has been decided to be 34in.

Wednesday Week 1

Cad1-9-19.jpgCad1-9-191.jpgCad1-9.jpg

  • Making the left and right side of the potential drive base.

Thursday Week 1

  • Work on L channel frame continues

Uchannelframe.jpgL-Channel.PNG

  • Began assembling belt drive mockup in CAD 

BeltDrive.jpg

BeltDrive2.PNGDrivebasemockup.PNG

  • Work on C-Channel frame to include holes at 1" spacing

 

UchannelFrame2.png

Saturday end of week 1

  • The sprint is on to complete the CAD work for the drive base 
  • Enough of the robot is in the final assembly drawing to allow other sub-teams to start relaize their designs.
  • Added corner bracket to stiffen the frame. This increased the length (and  perimeter). 

2019 Drive Base Frame.PNG

 

Sunday Week 2

  • Finite element alalysis on frame to test for weak points:

Drive Base FEL Result 0 2.pngDrive Base FEL Result 0 4.png2019 Drive Base FEL Result 0 57.png2019 Drive Base FEL Result 0 80.png2019 Drive Base FEL Result 0 81.png

  • Drive Base weighed in CAD: 30.6 lbs

 

Tuesday Week 2

  • Finalizing mounting locations

Elevator leg mount outside.PNGElevator mount inside.PNG

  • Fabricating smaller parts such as channels and brackets

Thursday Week 2

  • Puting cylinders on drive base frame
  • updating shopping list 
  • Finalize Final Design

2019DriveBaseAssemblyroughdraft.png

2019finalassemblyincomplete1.png

  • Fabricated L-Channel and C-Channel frame

2019Cchannelframe.jpeg2019FabricatingLchannel.jpeg

Sunday Week 4

  • Assembled drive base

Brive Base Assembly 1 2019.jpeg

  • Tested drive base
  • Climbed HAB lvl.1
  • Drive base Assembled and Completed
  • Electical and programming is the only part left to completly finish drive base

Tuesday Week 4

  • Battery Box Cading/Assembly

 

 

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