Robotics Drivetrain
This robot drivetrain was designed for a FIRST tech challenge robot. The main design objective was to create a sturdy holonomic drivetrain that maximizes interior space. Given the lengths of off-the-shelf aluminum pattern channels, the spacer configuration for the mecanum wheels and the width of the side plates was very important. This chassis integrates off-the-shelf electronic and structural components along with custom machined aluminum and custom 3D printed adapters and mounts.
Features
Chain driven mecanum wheels connected to planetary motors allow for smooth and fast holonomic motion. Mecanum wheels are mounted via bearings on a dead axle
Optimized for interior space. Chassis plates machined from â…›” aluminum sheet for a low profile and high rigidity. Space between plates planned to 0.1mm. Motors integrated inside of structural aluminum channels to reduce their footprint
Mounting positions for communication and control devices (main control computers, wiring, and cell phones) as well as cable management aids included within the chassis footprint
