2016:Drivetrain

12/21/2016

Frame information

• drive base dimensions: 25" wide x 37" long
• Front is straight across
• Rear is 16" straight
• Both ends are chamfered 4.5" width x 5" length
• 6 wheel design with pneumatic tires, wheel spacing is 9.5" between wheels
• Wheel axles are 9 inches from each end
• Center wheel dropped 1/4 inch
• Frame construction is "c-channel" and 1.125 wide x 1.250 tall and will be a welded construction
• We tested a frame mock up over all the defenses. The comment is the Frise will require a belly pan
• The moat will require a chamfer on the bottom edge of the rear and front members

Transmission

• CIMple box from Andy Mark 12 x 56 tooth (4.167:1 reduction)
• Speed sensor will be mounted on the Cimplebox ecoder take-off
• The secondary reduction will be 12 x 36 tooth for a 14:1 overall reduction
• the design wheel speed is 10.29 ft/s loaded
• (We are considering mounting the drive chains on the outboard side of the wheel channel to create more space in the center of the robot)
• The chain from the 36T front wheel sprockets will be routed around a high idler to keep it away from obstacles between the wheels.

Bumpers

• Scaling team requested bottom edge of bumper height to be 5 1/4" off the floor  

Gyro 

• Analog Devices ADW22307 1-axis Analog Gyroscope

Battery Box

• Battery box design is forthcoming. Placement may be able to help tune the robot CG, depending on the placement of the other robot mechanisms/systems.