FTC:Drivetrain - Revision history

Ian: linked swerve

2023-04-03T03:36:35Z

linked swerve

← Older revision		Revision as of 03:36, 3 April 2023
Line 92:		Line 92:
	*Suspension needed for middle wheel otherwise it is impossible to go over terrain		*Suspension needed for middle wheel otherwise it is impossible to go over terrain
	*Slower strafing		*Slower strafing
			\|-
			\|Swerve
			\|[[FTC:Swerve Drivetrains\|Swerve Drive]] are a unique type of drivetrain that can be very strong in defense. THey have multiple pods that are able to rotate independently of each other providing good maneuverability while maintaining high strength and defensibility.
			[[Image:SwerveDrive.png\|200px]]
			\|
			*Strong and Manueverable
			*Good Defense
			*Innovative
			\|
			*Complex
	\|}		\|}

Ian: Added wheels video

2022-10-17T02:54:56Z

Added wheels video

← Older revision		Revision as of 02:54, 17 October 2022
Line 164:		Line 164:
	==Wheels==		==Wheels==

	Wheels are what your robot sits on. Using certain wheels enables different types of motion. Remember that the robot doesn’t have to have all the same types of wheels. Get creative with how wheels can be used to advantage the team.		Wheels are what your robot sits on. Using certain wheels enables different types of motion. Remember that the robot doesn’t have to have all the same types of wheels. Get creative with how wheels can be used to advantage the team.

	{\|class="wikitable"		{\|class="wikitable"
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	*Fast		*Fast
	\|		\|
	*~~Big and heavy~~		*Less stable due to rollers
	\|-		\|-
	\|Omni Wheel		\|Omni Wheel
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	*Moving is more consistent		*Moving is more consistent
	\|		\|
	*Can only move ~~in linear direction~~		*Can only move forward and backward
	*Turning is slow and ~~you have to stop~~
	\|}		\|}

			If you want to learn more, here is a quick video we made that covers the wheels in more depth.
			{{#evt:
			service=youtube
			\|id=https://youtu.be/6dh89o_FgbY
			\|alignment=left
			}}



























	==Chassis==		==Chassis==

Leigha: Added images

2022-07-16T03:57:24Z

Added images

← Older revision		Revision as of 03:57, 16 July 2022
Line 7:		Line 7:
	==Drivetrain==		==Drivetrain==

	In FIRST Tech Challenge, the drivetrain refers to the part of the robot that allows it to move around the field. It is mainly composed of motors, wheels, and a chassis to hold all these things and other subsystems together. By combining these three things together in different ways, many different types of drivetrains can be made.		In ''FIRST'' Tech Challenge, the drivetrain refers to the part of the robot that allows it to move around the field. It is mainly composed of motors, wheels, and a chassis to hold all these things and other subsystems together. By combining these three things together in different ways, many different types of drivetrains can be made.

	==Types of Drivetrains==		==Types of Drivetrains==
Line 19:		Line 19:
	\|-		\|-
	\|2-Wheel		\|2-Wheel
	\|A two-wheel drivetrain consists of two moving wheels and two non-moving wheels. The design can have moving wheels in the front or the back, but they should be across from each other.		\|A two-wheel drivetrain consists of two moving wheels and two non-moving wheels. The design can have moving wheels in the front or the back, but they should be across from each other.
			[[Image:Drive1.png\|200px]]
	\|		\|
	*Easy to set up and fix		*Easy to set up and fix
Line 28:		Line 29:
	\|-		\|-
	\|4-Wheel		\|4-Wheel
	\|It has 4 wheels that are moving. This method can use 2 or 4 motors depending on the driver’s preference or how many motors subsystems will need.		\|It has 4 wheels that are moving. This method can use 2 or 4 motors depending on the driver’s preference or how many motors subsystems will need.
			[[Image:Drive2.png\|200px]]
	\|		\|
	*Very similar to the 2-Wheel, but it’s easier to turn		*Very similar to the 2-Wheel, but it’s easier to turn
Line 35:		Line 37:
	\|-		\|-
	\|6-Wheel		\|6-Wheel
	\|Very similar to the 4-wheel drivetrain, however, each side has 3 wheels.		\|Very similar to the 4-wheel drivetrain, however, each side has 3 wheels.
			[[Image:Drive3.png\|200px]]
	\|		\|
	*Very stable		*Very stable
Line 45:		Line 48:
	\|-		\|-
	\|Tank		\|Tank
	\|A tank drivetrain uses treads powered by 1-2 motors on each side.		\|A tank drivetrain uses treads powered by 1-2 motors on each side.
			[[Image:Drive4.png\|200px]]
	\|		\|
	*Very stable		*Very stable
Line 54:		Line 58:
	\|-		\|-
	\|Mecanum		\|Mecanum
	\|This drivetrain requires mecanum wheels and 4 motors to work. The special wheels need to spin in different directions in order for the robot to strafe.		\|This drivetrain requires mecanum wheels and 4 motors to work. The special wheels need to spin in different directions in order for the robot to strafe.
			[[Image:Drive5.png\|200px]]
	\|		\|
	*Precise movements		*Precise movements
Line 62:		Line 67:
	\|-		\|-
	\|Holonomic		\|Holonomic
	\|Similar to the mecanum drivetrain except the wheels are oriented at 45° angles on the corner of the robot. This drivetrain uses Omni wheels orientated this way to allow good control over the robot.		\|Similar to the mecanum drivetrain except the wheels are oriented at 45° angles on the corner of the robot. This drivetrain uses Omni wheels orientated this way to allow good control over the robot.
			[[Image:Drive6.png\|200px]]
	\|		\|
	*Very maneuverable		*Very maneuverable
Line 70:		Line 76:
	\|Kiwi		\|Kiwi
	\|A triangular-shaped drivetrain that has Omni wheels on the corner (at 60° angles) or the side of the robot.		\|A triangular-shaped drivetrain that has Omni wheels on the corner (at 60° angles) or the side of the robot.
			[[Image:Drive7.png\|200px]]
	\|		\|
	*Omni-Directional		*Omni-Directional
Line 78:		Line 85:
	\|-		\|-
	\|H-Drive		\|H-Drive
	\|This type of drivetrain has a basic 4-wheel drivetrain with Omni wheels. However, in the center are 1-2 perpendicular wheels that allow the robot to strafe. These wheels need suspension if the field uses rough terrain.		\|This type of drivetrain has a basic 4-wheel drivetrain with Omni wheels. However, in the center are 1-2 perpendicular wheels that allow the robot to strafe. These wheels need suspension if the field uses rough terrain.
			[[Image:Drive8.png\|200px]]
	\|		\|
	*Maneuverable and sturdy at the same time		*Maneuverable and sturdy at the same time
Line 86:		Line 94:
	\|}		\|}

	There are also many different kits that most major FIRST part vendors will sell. These are typically very simple and easy to use, however, not very customizable.		There are also many different kits that most major ''FIRST'' part vendors will sell. These are typically very simple and easy to use, however, not very customizable.

	==Motors==		==Motors==
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	\|Bevel Gears		\|Bevel Gears
	\|Two perpendicular gears that turn against each other. An axle is connected to each bevel gear. One axle leads to the wheels and one leads to the motor. The motor powers one gear to spin, turning the other one, therefore, turning the wheel.		\|Two perpendicular gears that turn against each other. An axle is connected to each bevel gear. One axle leads to the wheels and one leads to the motor. The motor powers one gear to spin, turning the other one, therefore, turning the wheel.
			[[Image:Drive9.png\|100px]]
	\|		\|
	*Changeable speed and torque based on gear ratio		*Changeable speed and torque based on gear ratio
Line 213:		Line 222:
	\|Chains		\|Chains
	\|Two sprockets are connected together by a chain with a motor at one end. The other end has the wheel that spins with the motor. This motor is connected to a sprocket that powers the whole system. The other sprocket is connected to the wheel so it can turn and an optional sprocket can be placed in between these two to tension the chain. This tension prevents the chains from slipping off.		\|Two sprockets are connected together by a chain with a motor at one end. The other end has the wheel that spins with the motor. This motor is connected to a sprocket that powers the whole system. The other sprocket is connected to the wheel so it can turn and an optional sprocket can be placed in between these two to tension the chain. This tension prevents the chains from slipping off.
			[[Image:Drive10.png\|300px]]
	\|		\|
	*Customizable gear ratios to get higher speed or torque		*Customizable gear ratios to get higher speed or torque
Line 221:		Line 231:
	\|Belts		\|Belts
	\|This system is very similar to a chain drive except it uses belts instead of chains. Also, It doesn’t always need an additional sprocket or wheel to keep it tensioned. If it uses stretchy belts this is unnecessary.		\|This system is very similar to a chain drive except it uses belts instead of chains. Also, It doesn’t always need an additional sprocket or wheel to keep it tensioned. If it uses stretchy belts this is unnecessary.
			[[Image:Drive11.png\|200px]]
	\|		\|
	*Sometimes provides its own tension based on the type of belt you buy		*Sometimes provides its own tension based on the type of belt you buy
Line 229:		Line 240:
	\|Direct Drive		\|Direct Drive
	\|The motor is connected directly to the wheel and spins with it.		\|The motor is connected directly to the wheel and spins with it.
			[[Image:Drive12.png\|200px]]
	\|		\|
	*Fast		*Fast

Leigha: Created page with "{{#seo: |title= Drivetrain - Project Robotica |keywords= FTC, FIRST Tech Challenge, Drivetrain, Mecanum, Wheel, Tank, Holonomic, Kiwi, H-Drive, Drive, Hardware, |description=..."

2022-07-16T03:35:31Z

Created page with "{{#seo: |title= Drivetrain - Project Robotica |keywords= FTC, FIRST Tech Challenge, Drivetrain, Mecanum, Wheel, Tank, Holonomic, Kiwi, H-Drive, Drive, Hardware, |description=..."

New page

{{#seo:
|title= Drivetrain - Project Robotica
|keywords= FTC, FIRST Tech Challenge, Drivetrain, Mecanum, Wheel, Tank, Holonomic, Kiwi, H-Drive, Drive, Hardware,
|description= An analysis of different types of drivetrains as well as what motors, wheels, and chassis they can use.
|robots=index, follow
}}
==Drivetrain==

In FIRST Tech Challenge, the drivetrain refers to the part of the robot that allows it to move around the field. It is mainly composed of motors, wheels, and a chassis to hold all these things and other subsystems together. By combining these three things together in different ways, many different types of drivetrains can be made.

==Types of Drivetrains==

{|class="wikitable"
|-
|'''Name'''
|'''What Is It'''
|'''Pros'''
|'''Cons'''
|-
|2-Wheel
|A two-wheel drivetrain consists of two moving wheels and two non-moving wheels. The design can have moving wheels in the front or the back, but they should be across from each other.
|
*Easy to set up and fix
*Easy to control
*Good for demos or learning basics
|
*Bad Maneuverability
|-
|4-Wheel
|It has 4 wheels that are moving. This method can use 2 or 4 motors depending on the driver’s preference or how many motors subsystems will need.
|
*Very similar to the 2-Wheel, but it’s easier to turn
|
*Bad Maneuverability
|-
|6-Wheel
|Very similar to the 4-wheel drivetrain, however, each side has 3 wheels.
|
*Very stable
*Easy to go over rough terrain
|
*Bad Maneuverability
*Uses a lot of power to move 6 wheels
*Takes up a lot of space
|-
|Tank
|A tank drivetrain uses treads powered by 1-2 motors on each side.
|
*Very stable
*Easy to go over rough terrain
|
*Very bad Maneuverability
*Slow
|-
|Mecanum
|This drivetrain requires mecanum wheels and 4 motors to work. The special wheels need to spin in different directions in order for the robot to strafe.
|
*Precise movements
*Omni- Directional
|
*Can’t go over terrain very well
|-
|Holonomic
|Similar to the mecanum drivetrain except the wheels are oriented at 45° angles on the corner of the robot. This drivetrain uses Omni wheels orientated this way to allow good control over the robot.
|
*Very maneuverable
|
*Angled corner wheel placement makes it hard for motors to be attached
|-
|Kiwi
|A triangular-shaped drivetrain that has Omni wheels on the corner (at 60° angles) or the side of the robot.
|
*Omni-Directional
*Only Uses 3 motors
|
*Can fit more things in a square robot
*Can’t go over rough terrain
|-
|H-Drive
|This type of drivetrain has a basic 4-wheel drivetrain with Omni wheels. However, in the center are 1-2 perpendicular wheels that allow the robot to strafe. These wheels need suspension if the field uses rough terrain.
|
*Maneuverable and sturdy at the same time
|
*Suspension needed for middle wheel otherwise it is impossible to go over terrain
*Slower strafing
|}

There are also many different kits that most major FIRST part vendors will sell. These are typically very simple and easy to use, however, not very customizable.

==Motors==

{|class="wikitable"
|-
|'''Name'''
|'''Uses'''
|'''Pros'''
|'''Cons'''
|-
|[https://www.andymark.com/products/neverest-orbital-20-gearmotor NeveRest Orbital 20 Gearmotor]
|Good for use in high-speed drivetrains
|
*High speed
*Reliable
|
*Can’t adjust tension for a chain drive easily
*Low torque
|-
|[https://www.andymark.com/products/neverest-classic-40-gearmotor NeveRest 40]
|Good for use in driving
|
*Decent Torque and Speed
*Easy adjustment of chain tension
|
*Uses a D pattern axle
|-
|[https://www.revrobotics.com/rev-41-1600/ REV Ultra Planetary Gearmotor]
|High-speed subsystems and driving
|
*Durable
*Easy to change the gearbox
|
*Can’t adjust tension for a chain drive easily
|-
|[https://www.revrobotics.com/REV-41-1211/ REV HD Hex Motor 20:1 Planetary]
|High-speed subsystems and driving
|
*High Speed
|
*Can’t adjust tension for a chain drive easily
|-
|[https://www.revrobotics.com/rev-41-1301/ REV HD Hex Motor 40:1]
|Good for driving and for high torque subsystems
|
*High Torque
*Durable
|
*Decent speed
|-
|[https://www.gobilda.com/yellow-jacket-planetary-gear-motors/ goBilda 5202 Series Yellow Jacket Planetary Gear Motor]
|Good for subsystems and driving. It can be put into a goBilda U-channel
|
*Many options on torque and speed
*Uses a D axle
|
*Can’t adjust tension for a chain drive easily
|-
|[https://www.gobilda.com/yellow-jacket-planetary-gear-motors/ goBilda 5203 Series Yellow Jacket Planetary Gear Motor]
|Good for subsystems and driving. It can be put into a goBilda U-channel
|
*Many options on torque and speed
*Uses a hex axle
|
*Can’t adjust tension for a chain drive easily
|}

==Wheels==

Wheels are what your robot sits on. Using certain wheels enables different types of motion. Remember that the robot doesn’t have to have all the same types of wheels. Get creative with how wheels can be used to advantage the team.

{|class="wikitable"
|-
|'''Name'''
|'''Pros'''
|'''Cons'''
|-
|Mecanum
|
*Allows for strafing/omnidirectional movement
*Fast
|
*Big and heavy
|-
|Omni Wheel
|
*Omni-directional movement
*Light
*Smaller and thinner
|
*Less efficient total directional movement than mecanum
*Omni wheel’s movement has points where it is rough or harder to control due to the way the wheels are designed
|-
|Stealth Wheel
|
*Moving is more consistent
|
*Can only move in linear direction
*Turning is slow and you have to stop
|}

==Chassis==

The chassis is the base to support everything, including subsystems, on the robot. The motors and wheels are attached onto the chassis in order to move it around. It is mainly composed of strong support beams or plates connected together to form a strong base for a robot. There are many different part providers that provide the necessary parts for a chassis. There are even some kits for this.

==Ways to Power the Types of Drivetrains==

There are many different ways to connect wheels to motors in FTC. These types of connections, or drives, can be used to amplify power/torque or speed.

{|class="wikitable"
|-
|'''Name'''
|'''What Is It'''
|'''Pros'''
|'''Cons'''
|-
|Bevel Gears
|Two perpendicular gears that turn against each other. An axle is connected to each bevel gear. One axle leads to the wheels and one leads to the motor. The motor powers one gear to spin, turning the other one, therefore, turning the wheel.
|
*Changeable speed and torque based on gear ratio
*Small
|
*Not very durable, the gears can grind a lot
|-
|Chains
|Two sprockets are connected together by a chain with a motor at one end. The other end has the wheel that spins with the motor. This motor is connected to a sprocket that powers the whole system. The other sprocket is connected to the wheel so it can turn and an optional sprocket can be placed in between these two to tension the chain. This tension prevents the chains from slipping off.
|
*Customizable gear ratios to get higher speed or torque
|
*Chains slip off easily
*Takes up a lot of space
|-
|Belts
|This system is very similar to a chain drive except it uses belts instead of chains. Also, It doesn’t always need an additional sprocket or wheel to keep it tensioned. If it uses stretchy belts this is unnecessary.
|
*Sometimes provides its own tension based on the type of belt you buy
*Changeable speed and torque based on gear ratio
|
*Belts can slip easier
|-
|Direct Drive
|The motor is connected directly to the wheel and spins with it.
|
*Fast
*Takes up a very small amount of space
|
*Motors take a lot of damage and strain
*Not very strong
|}

==Additional Resources==

==References==
<references/>