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Robotics Drive Systems

This document discusses different types of robot drive systems and factors to consider when selecting a drive system. It covers the importance of the drive system, basic considerations, types of drive systems including 2 wheel drive, 4 wheel drive, tank treads, omni-directional and Mecanum wheels. It also discusses traction, mobility and center of gravity. The ideal drive system meets strategy goals, has power and traction, can be easily repaired, and gives teams time to program and practice driving.

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ksalone
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64 views23 pages

Robotics Drive Systems

This document discusses different types of robot drive systems and factors to consider when selecting a drive system. It covers the importance of the drive system, basic considerations, types of drive systems including 2 wheel drive, 4 wheel drive, tank treads, omni-directional and Mecanum wheels. It also discusses traction, mobility and center of gravity. The ideal drive system meets strategy goals, has power and traction, can be easily repaired, and gives teams time to program and practice driving.

Uploaded by

ksalone
Copyright
© © All Rights Reserved
We take content rights seriously. If you suspect this is your content, claim it here.
Available Formats
Download as PDF, TXT or read online on Scribd
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Robotics Drive

Systems

By DEREK Murphy
Chief Evangelist
Studica.
Topics
 Importance
 Basics
 Drive Types
 Resources
 Traction
 Mobility
Importance

The best drive train…


 is more important than anything else on the robot
 meets your strategy goals
 can be built with your resources
 rarely needs maintenance
 can be fixed within 4 minutes
 is more important than anything else on the robot
Basics

 Know your resources


 Decide before you begin:
› Speed, power, shifting, mobility
 Use most powerful motors on drivetrain
 Don’t drive ½ of your robot… WEIGH IT DOWN!
 Break it early
 Give software team TIME to work
 Give drivers TIME to drive
Drive Types: 2 wheel drive

Driven
Wheel
Motor(s) Motor(s)

+ Easy to design
+ Easy to build
+ Light weight
+ Inexpensive
+ Agile
Free
- Not much power Wheel
- Will not do well on ramps
- Less able to hold position
Drive Types:
4 wheel drive, 2 gear motors
Driven
Wheels
Motor(s) Motor(s)

Chain
or belt
+ Easy to design
+ Easy to build
+ Inexpensive
+ Powerful
+ Sturdy and stable
Driven
- Not agile Wheels
-Turning is difficult
-Adjustments needed
Drive Types:
4 wheel drive, 4 gear motor
Driven
Wheels
Motor(s) Motor(s)

+ Easy to design
+ Easy to build
+ Powerful
+ Sturdy and stable
+ Many options
Mecanum, traction

- Heavy
Driven
- Costly
Wheels
Motor(s) Motor(s)
Drive Types:
6 wheel drive, 2 Gear Motors

+ Easy to design
+ Easy to build
+ Powerful
+ Stable
+ Agile*
*2 ways to be agile
This is the GOLD
Gearbox Gearbox
A) Lower contact STANDARD in FRC
point on center - Heavy **
wheel + simple
- Expensive **
B) Omni wheels on + easy
front or back or ** - depending on
+ fast and powerful
both wheel type + agile
Drive Types:
N wheel drive, 2 Gear Motors

+ Powerful
+ Stable
+ Agile*

Sole benefit: Ability to go over


Gearbox Gearbox things

- HEAVY *2 ways to be agile


- EXPENSIVE
A) Lower contact point on
center wheel
B) Omni wheels on front or back
or both
Drive Types:
Tank tread drive, 2 gear motors

Gearbox Gearbox

+ Powerful
+ VERY Stable

- NOT AGILE
- HEAVY Sole benefit: Ability to go
- Inefficient over things
- EXPENSIVE
- Hard to maintain For turning, lower the contact
point on center of track
wheel
Will NOT push more than a well-
controlled 6wd
Drive Types: 3 wheel

 Various types
 Lightweight
Gearbox Gearbox
 Fast
 Non-standard
› (design intensive)
Drive Types: Omni-directional

Omni-directional wheels are


unique as they are able to roll
freely in two directions. It can ether
roll like a normal wheel or roll
laterally using the wheels along its
circumference. Omni-direction
wheels allow a robot to convert
from a non-holonomic to a
holonomic robot.
Drive Types: omni directional
holonomic wheels

 4 wheel drive or 3 wheel drive


+ Simple Mechanics
+ Immediate Turning
+ Simple Control – 4 wheel
independent
- No brake
- Minimal pushing power
- Jittery ride, unless w/ dualies
- Incline difficulty
Drive Types: Mecanum
+ Simple mechanisms
+ Immediate turn
+ Simple control – 4 wheel independent drive
- Minimal brake
- OK pushing power
- Needs a suspension
- Difficulty on inclines
Mecanum wheel Robot,
WSR 2015 Brasil
Traction
 Static vs Dynamic (10% lower)
› If you slip you loose position,
› Design encoders into your system
› Dynamic breaking & traction control
 Pushing force = Weight * µ
› µ = friction coefficient
Normal
Force
Pushing (weight)
Force

Static friction coefficients


µ = 0.1 = caster (free spinning)
µ = 0.3 = hard plastic
µ = 0.8 = smooth rubber, 80A durometer
µ = 1.0 = sticky rubber, 70A durometer
µ = 1.1 = conveyor treads
More on Traction

 You can determine µ

Material w/ µ
mass Fpull

Fweight

µ = Fpull / Fweight
Mobility

 Move +/- 1 foot in any direction in under 1 second


 Generally speaking, the more mobile your robot is, the
less it can resist a push

More mobile less mobile


Center of gravity (Cg)
 Robot mass is represented at one point
 Mobility increases when Cg is low and centered
 High parts = light weight
 Low parts = heavy (within reason

Battery
Mobile
motors

Battery motors Tippy

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