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J.M. Gabrielse
VEX Drive TrainsVEX Drive Trains
J.M. Gabrielse
Drive Trains
• Vocabulary• Four Wheel / Six Wheel• Skid Steering (Tank Drive)• Swerve (Crab) Drive• Holonomic (Omni) Drive• X Drive• H Drive & U Drive• Mecanum Drive• 2 Speed Transmission
J.M. Gabrielse
Drive Train
A robot’s drive train consists of all of the components used to make the robot move.
– Motors– Wheels– Transmissions
(gears / sprocket & chain)
J.M. Gabrielse
Motor
VEX 2-Wire Motor 393•The 2-Wire Motor 393 is the primary actuator used in the VEX Robotics Design System. Build rotational mechanisms, drive bases, rotational joints, conveyor belts - anything that spins can be built using the 2-wire Motor 393.•Strong, steel internal gears.•Can be configured into a "high speed" version.•The 2-Wire Motor 393 does not have an internal motor controller.
J.M. Gabrielse
Wheels
VEX has the right tire for any terrain. Here are different size wheel diameters (2.75“, 4“, 5") are available each with a different tread type; choose the perfect wheel for your application.
5" Wheels
4" Wheels
2.75" HighTraction Wheels
Intake Rollers
4" High Traction Tire
J.M. Gabrielse
Omni-Directional Wheels
4" Omni-Directional Wheel
Omni-Wheels roll forward like normal wheels, but slide sideways with almost no friction (no skidding during turns). Use these wheels to make your robot turn smoothly or build a holonomic drivetrain.
2.75" Omni Directional Wheel
2.75" Omni Directional Wheel
3.25" Omni-Directional Wheel
J.M. Gabrielse
Special “Wheels”
Intake Roller
6" Wheel Leg
J.M. Gabrielse
Gear Types
standard gears
differential bevel gears rack & pinion worm gear
high strength gears
J.M. Gabrielse
Sprockets & Chains
Standards Sprockets & Chains
High Strength Sprockets & Chains
J.M. Gabrielse
Four Wheel / Six WheelSquarebot (4-wheeldrive)
6-wheeldrive
J.M. Gabrielse
n-Wheel Drive
n = how many wheels are connected to motors
• Two wheel drive: two wheels are powered• Four wheel drive: four wheels are powered
How many motors the robot has doesn’t matter:
• The squarebot has only two motors, but it is an example of four wheel drive since all four wheels are connected to motors.
J.M. Gabrielse
Squarebot
J.M. Gabrielse
Skid Steering(Tank Drive)
The left and right side of the robot are independently powered.
To rotate, one side goes forward and the other goes backwards.
J.M. Gabrielse
Swerve/Crab Drive
A swerve drive robot has the ability to rotate its wheels.
J.M. Gabrielse
Omni-Directional (Omni) Driveaka Holonomic Drive
Omni wheels pointing in opposite directions allow the robot to move in any direction or spin.
J.M. Gabrielse
Omni-Directional (Omni) Driveaka Holonomic Drive
A drivetrain that can move in any direction at a given moment, without waiting for wheels to steer is called an Omni-Directional Drivetrain. These drivetrains use special wheels, called “omni-wheels”. Omni-wheels are wheels with small rollers around the perimeter that freely spin perpendicular to the wheel’s rolling direction. This means that the wheels can slide sideways with very low friction.
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J.M. Gabrielse
Omni-Directional (Omni) Driveaka Holonomic Drive
J.M. Gabrielse
Omni-Directional (Omni) DriveThis is a true holonomic drive aka X Drive.
J.M. Gabrielse
H Drive & U DriveOther holonomic drives
U formation U formation
Four Wheel Drive Square Robot
Two Wheel Drive Square Robot
H formation
J.M. Gabrielse
Train Drives
J.M. Gabrielse
Mecanum DriveThe Mecanum drive is also a holonomic drive.
J.M. Gabrielse
Mecanum Holonomic Drive in Action
A VEX robot with a holonomic drive.
If video do not play, go to this link:https://www.youtube.com/watch?v=pP8ajNMx84k
J.M. Gabrielse
2 Speed Transmission Drive
J.M. Gabrielse
2 Speed Transmission Drive
J.M. Gabrielse
VEX Drive TrainsVEX Drive Trains
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