FIRST Tech Challenge Drive Train Testing By Techno Warriors Advanced FTC #3486 October 15, 2015

Topics Project Description Requirements Basics – Drive Train Design Drive Train Types Testing Science/Engineering Conclusions October 15, 2015

Project Description Built and tested seven drive train designs Simulated FTC match environments Tested each design with added weight to mimic various robot weights Compiled and analyzed data to find ideal configurations for each test October 15, 2015

Requirements Meets strategy goals for the game Is built from available resources Time Cost Tools for fabrication Part 1 of game manual Rarely needs maintenance Is repairable within 4 minutes Uses minimal amount of space October 15, 2015

Basics – Drive Train Design Decide strategy after kickoff Speed Power Mobility Decide how many motors will be allotted for drive train Decide robot weight Traction Offensive/Defensive ability October 15, 2015

Basics – Drive Train Design Build for durability and test Find weak points Practice driving Have spare parts and assemblies Develop a project plan Allot time for development and building Learn technology Know motor capabilities and limitations Know electrical capabilities and limitations October 15, 2015

Basics – Drive Train Design Build for durability and test Find weak points Practice driving Have spare parts and assemblies Develop a project plan Allot time for development and building Learn technology Know motor capabilities and limitations Know electrical capabilities and limitations October 15, 2015

Nimble: 2 wheel drive + 2 Omni caster wheels Driven wheels Motor This drive train uses two direct drive 4” wheels with two 3” omni caster wheels. This robot has a base weight of 7 lbs due to its 10”x18” 80/20 frame. October 15, 2015

Nimble: 2 wheel drive + 2 Omni caster wheels This drive train uses four direct drive 4” wheels that are not connected to each other. This robot has a base weight of 7 lbs due to its 10”x18” 80/20 frame. DrivenWheels Motor October 15, 2015

Unity: 4 wheel drive, connected This drive train uses four direct drive 4” wheels that are connected to each other using chain (not drawn in Creo). This robot has a base weight of 9 lbs due to its 10”x18” 80/20 frame plus added chain and sprockets. DrivenWheels Motor Chain October 15, 2015

Robust: 10 wheel drives This drive train uses 10 chain driven 3” wheels that are geared together with the 4 outer wheels raised. This robot was our competition robot from the 2014- 2015 season which weighed 55 lbs. Motor Gears October 15, 2015

Whirlwind: 6 wheel drive, 2 tread types This drive train uses 6 chain driven 4” wheels with the outer wheels being the AndyMark omni wheels and the inner wheels using either the AndyMark Performance Tread or the AndyMark Wedgetop Tread (tested separately). This robot had a base weight of 22.5 lbs. Motor October 15, 2015

Tracks: Track drive, 4 motors This drive train uses 6 chain driven 4” wheels with the outer wheels being the AndyMark omni wheels and the inner wheels using either the AndyMark Performance Tread or the AndyMark Wedgetop Tread (tested separately). This robot had a base weight of 22.5 lbs. Motor October 15, 2015

Direction: 4 motors, not connected This drive train uses 4 direct driven 3” omni wheels. Each wheel was driven individually to allow for multidirectional travel. This robot had a base weight of 7 lbs. Omni Motor October 15, 2015

Testing Straight Line Speed Test Pull Test Side Drag Test Spin Test Ramp Test October 15, 2015

Conclusions Straight Line Speed Test (Seconds/Amps) Test Data Straight Line Speed Test (Seconds/Amps) Pull Test (Pounds/Amps) Side Drag Test (Pounds) Spin Test (Time/Amps) Overall Robot Performance October 15, 2015

Speed Test Results October 15, 2015

Pull Test Results Track drive uses 3” wheels, and, therefore, gained at least 25% of power advantage compared to 4” wheels October 15, 2015

Side Drag Test Results October 15, 2015

Spin Test Results October 15, 2015

Quick Reference Table October 15, 2015

FIRST Tech Challenge Drive Train Testing Created by FTC Team #3486 Techno Warriors Advanced Complete Presentation available at: bit.ly/FTC3486 Feel free to contact us! Engineering Notebook: bit.ly/FTC3486 Email: twa3486@gmail.com Twitter: @technowarriors October 15, 2015