Drive Systems. Steve Shade October 26, 2013
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1 Steve Shade October 26, 2013
2 Introduction Steve Shade 15 year veteran Chesapeake Team Development Lead Chesapeake Head Referee Senior Controls and Simulation Engineer for Rolls-Royce Marine North America
3 Overview 2013 review Types of wheels Types of drivetrains Comparing drivetrains Drive calculations Center of gravity Additional notes
4 2013 Review What kind of drive system did your team use in 2013? Why? Defined through your strategy What types of drive systems did the 12 Einstein teams at Championship p use? 6 WD / 8 WD (11) 4 WD Swerve (1)
5 Types of Wheels Drive Systems Static friction coefficients = 0.1 = caster (free spinning) = 0.3 = hard plastic = 0.8 = smooth rubber, 80A durometer = 1.0 = sticky rubber, 70A durometer = 1.1 = conveyor treads
6 Gear Types and Efficiency Spur Gears Efficiency ~ 95% - 98% Worm Gears Efficiency ~ 40%-70%
7 Gear Types and Efficiency Chain and Sprockets Efficiency ~ 95% - 98%
8 Gear Types and Efficiency Belt and Pulley Efficiency ~ 85%-98% (timing belt best) Bevel Gears Efficiency ~ 90% - 95%
9 What a gear ratio means Drive Systems Gear ratio greater than 1 Decrease speed Increase torque N1 N2 Gear ratio less than 1 Increase speed Decrease torque N1 N2 GearRatio N 2 N 1
10 Gear Ratio Example Drive Systems Gear ratio = # teeth of gear/ # teeth of driving gear 8 (N1) tooth gear driving a 24 (N2) tooth gear 3:1 ratio 3 turns of 8 for 1 turn of 24 The 24 tooth gear will have 3 X the torque T T 2 T 1 N 1 N T1 3 T 1
11 Common FIRST Drive Systems 4/6/8 / WD Skid Steer Swerve / Crab Holonomic Mecanum
12 Common Drive System Criteria Maneuverability Strength Cost (Number of Motors) Controls Ease of Operation Obstacles Design Challenge
13 6 WD Skid Steer Each side is driven independently Typically 4, 6, or 8 wheels Middle wheel often dropped 1/8 Strengths Simple to design, build, maintain, program Easy to drive Potential for high pushing force / speed Limitations Slightly less agile than other options
14 Swerve / Crab Drive Wheel modules rotate tom control direction Each wheel driven independently Typically 4 traction wheels Strengths Agile, high pushing force Limitations Complex to build and program, Expensive Extra motors
15 Holonomic 3 or 4 wheel drive, each wheel independent motor Strengths Simple mechanics Agile Limitations Extra gearboxes required Minimal pushing power Incline difficulty
16 Mecanum 4 wheel mecanum drive, each wheel independent Strengths Simple mechanics Agile Limitations Extra gearboxes required Limited pushing power Incline difficulty Challenge to program and drive well Wheels are $$$
17 Comparing Drivetrains Use quantitative means to select the best di drivetrain i for our robot Use a decision matrix Decision criteria Maneuverabilityerabilit Ability to move around field Strength Push other robots/game pieces Resist defense from other robots Cost Number of motors, $$, materials and time Controls Ease of programming and wiring Operation Intuitive control to minimize practice Use of all features, maneuvering to go sideways Obstacles Ability to move over ramps, bumps, steps, field Design debris, game objects, etc. Ease to design, manufacture, assemble, maintain, weight
18 Decision Matrix Drive Systems Criteria Weight 6WD Skid Swerve Holonomic Mecanum Maneuverability? Strength? Cost? Controls? Operation? Obstacles? Design?
19 Selecting Suitable Weighting Young Team Maneuverability - 3 Strength - 3 Cost - 3 Controls - 4 Operation - 5 Obstacles - 0 Design 5 Strong Team Maneuverability - 5 Strength - 5 Cost - 2 Controls - 2 Operation - 3 Obstacles - 0 Design 2
20 Strong Team Scoring Drive Systems Criteria Weight 6WD Skid Swerve Holonomic Mecanum Maneuverability Strength Cost Controls Operation Obstacles Design Total
21 Young Team Scoring Drive Systems Criteria Weight 6WD Skid Swerve Holonomic Mecanum Maneuverability Strength Cost Controls Operation Obstacles Design Total
22 Basic Drive Calculations CIM Motor Specs Applied Voltage (V) Spec Voltage (V) Free Speed (RPM) Stall Torque (N*m) Stall Current (Amp) Free Current (Amp) KoP Gear Ratio (ToughBox Mini) KG = Robot Weight W = 148 lbs (Robot +Battery+Bumpers) Wheel Size (D/R) D = 6 Diameter (R = 3 Radius) Wheel Type (Traction) Mu = 1.0 Speed Loss Constant EtaS = Gearbox Efficiency EtaG = 0.90 Number of Motors / Gearbox NM = 2 motors (4 total)
23 Drive Calculations (continued) Max Wheel Speed Free Speed / KG * EtaS 5310 / * 0.95 = rpm Wheel Circumference C wheel = Pi*D = *6 in * 1ft / 12in = ft Max Speed Max Wheel Speed * Cwheel / 60 min/s rev/min * ft/rev / 60 min/s = ft/s Adjusted Gearbox Torque W * Mu / 2 * R / EtaG = 148 lb * 1.0 / 2 * 0.25 ft / 0.9= ft- lbf
24 Drive Calculations (continued) Motor Torque Load Adjusted Gearbox Torque / KG/ NM Qmot = ft-lbf /1275/ / 2 Qmot = ft-lbf = 1.09 N-m Motor Current Draw (Qmot /Qstall) (Istall Ifree) + Ifree Imot = (1.09 N-m /242N-m) 2.42 * (133 A A) A = A Total Current Draw 4*Imot = A
25 Center of Gravity Robot mass is represented at one point Mobility increases when Cg is low and centered High parts = light weight Low parts = heavy (within reason) Ms Mobile Battery motors pump, etc. Battery motors pump, etc. Mr Tippy
26 Other Notes Turning Easier to do with wide wheelbase, harder with long wheel base Chris Hibner Paper on ChiefDelphi Practice is the critical to drivetrain success on the field Ideally, start now with old robots By week 2/3 have base moving around
27 Suppliers AndyMark VexPro Robotics
28 Resources Drive Systems Team 1114 Drivetrain Design Ben Nennett AndyMark - FIRST Robotics Drive Systems Andy Baker ChiefDelphi discussion boards
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