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FTC Game Reveal Durham, NC September 6, 2014
Drive Train Options FTC Game Reveal Durham, NC September 6, 2014 A special thank you to FTC 0001 – Team Unlimited and Andy Baker, President – Andymark Inc. for sharing their learnings and insights on drive train design We also recognize the efforts and copyrights of other FTC teams, FIRST, LEGO Education and LEGO with regards to the contents of this workshop. Without their generosity and ideas, the FIRST Tech Challenge would not exist!
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Overview Purpose Discuss commonly used drive train options for the FTC competition with examples from FTC and FRC teams.
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is more important than anything else on the robot
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 Andy Baker, President AndyMark Inc October 2008
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Confused? Holonomic? Omni Wheel? How many wheels? Tank Drive? Mecanum?
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Chassis design Physical layout Chassis are usually rectangular
Short wheelbase & wide body better for turns & side stability Long wheelbase & narrow body better for front-back stability Square chassis a compromise for both
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Drive trains: Tank Drive
Most Common 2 or 4 motor drive (could be more, not usually) 2, 4, or 6 wheel drive usually depending on design strategy) Direct drive is the easiest option Gearing for torque or speed, as well as power transmission Gearing up for speed can stress gear motors, increase failures Gearing or sprockets and chain used to link motors together Tank Drive Chassis Techno Warriers Advanced – FTC PTC Design Award Winner
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Drive trains: More Options!
+ Immediate Turning + Increased Mobility + Simple Control – 4 wheel independent + Improved Turning + High Mobility + Good traction Less pushing power than tank drive Bouncy ride Uneven playing field difficulty More push than Holonomic Complex programming Complex mechanically Hard to drive – which way is forward? Mecanum Drive Chassis Swerve/Crab Drive Chassis
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… and yes, they do exist! FTC Team 5064 (A NC Team!) FTC Team 4112
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So let’s try them out! Presentation available at
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