j.m. gabrielse vex drive trains. j.m. gabrielse drive trains vocabulary four wheel / six wheel skid...
TRANSCRIPT
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J.M. Gabrielse
VEX Drive TrainsVEX Drive Trains
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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
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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)
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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.
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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
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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
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J.M. Gabrielse
Special “Wheels”
Intake Roller
6" Wheel Leg
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J.M. Gabrielse
Gear Types
standard gears
differential bevel gears rack & pinion worm gear
high strength gears
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J.M. Gabrielse
Sprockets & Chains
Standards Sprockets & Chains
High Strength Sprockets & Chains
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J.M. Gabrielse
Four Wheel / Six WheelSquarebot (4-wheeldrive)
6-wheeldrive
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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.
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J.M. Gabrielse
Squarebot
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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.
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J.M. Gabrielse
Swerve/Crab Drive
A swerve drive robot has the ability to rotate its wheels.
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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.
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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
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J.M. Gabrielse
Omni-Directional (Omni) DriveThis is a true holonomic drive aka X Drive.
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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
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J.M. Gabrielse
Train Drives
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J.M. Gabrielse
Mecanum DriveThe Mecanum drive is also a holonomic drive.
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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
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J.M. Gabrielse
2 Speed Transmission Drive
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J.M. Gabrielse
2 Speed Transmission Drive
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J.M. Gabrielse
VEX Drive TrainsVEX Drive Trains
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