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1、Chassis DesignZan HechtManchester, NHJan 5th, 20072007 FIRST Rookie WorkshopOutlineBasic Robot Design TheoryBuilding a ChassisBuilding a DrivelineWhats in the KOP?Moving from VEX to FRCFinal AdviceQuestions?2007 FIRST Rookie WorkshopBasic Robot Design TheoryBasic Robot Design TheorySkid (Tank) Steer

2、ingROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySkid (Tank) SteeringROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySkid (Tank) SteeringROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySkid (Tank) SteeringROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySkid

3、(Tank) SteeringROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySkid (Tank) SteeringROBOTAB2007 FIRST Rookie WorkshopBasic Robot Design TheorySteering Suggestions Skid steering is easy Single-joystick controls are great for new drivers Two-joystick controls gives drivers more control2007 FI

4、RST Rookie WorkshopBasic Robot Design Theory4 Wheels vs. 2 WheelsROBOT2007 FIRST Rookie WorkshopBasic Robot Design Theory4 Wheels vs. 2 WheelsROBOTROBOT2007 FIRST Rookie WorkshopBasic Robot Design Theory4 Wheels vs. 2 WheelsROBOTROBOT2007 FIRST Rookie WorkshopBasic Robot Design TheorySlicks vs. Grip

5、s2007 FIRST Rookie WorkshopBasic Robot Design TheorySlicks vs. Grips2007 FIRST Rookie WorkshopBasic Robot Design TheorySlicks vs. Grips2007 FIRST Rookie WorkshopBasic Robot Design TheoryWheel Suggestions It doesnt matter how many wheels you have, as long as they all are drivenIf you plan to turn, yo

6、u should only have two “grippy” tiresIncline Conveyor Belt (wedge-top, rough-top)Pneumatic TiresSoft Rubber Tires Remaining wheels should be slickHard rubber or plasticOmni-wheel/Wonder-wheelZip ties (in case of emergency only!)2007 FIRST Rookie WorkshopBasic Robot Design TheoryCenter of Gravity2007

7、 FIRST Rookie WorkshopBasic Robot Design TheoryCenter of Gravity2007 FIRST Rookie WorkshopBasic Robot Design TheoryCenter of Gravity2007 FIRST Rookie WorkshopBasic Robot Design TheoryCenter of Gravity2007 FIRST Rookie WorkshopBasic Robot Design TheoryCenter of Gravity2007 FIRST Rookie WorkshopBasic

8、Robot Design TheoryCenter of Gravity2007 FIRST Rookie WorkshopBasic Robot Design TheoryWeight Distribution Suggestions Your center of gravity must be between your wheels Your center of gravity must be between your wheels even when your robot is at an angle The wheels closest to your center of gravit

9、y should be grippy2007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Roo

10、kie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design T

11、heoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST

12、Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Desig

13、n TheoryChain Theory16322007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory2007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory2007 FIRST Rookie WorkshopBasic Robot Design TheoryChain Theory2007 FIRST Rookie WorkshopBasic Robot Design TheoryRobot Speed2007 FIRST Rookie Worksho

14、pBasic Robot Design TheoryRobot Speed2007 FIRST Rookie WorkshopBasic Robot Design Theory2007 FIRST Rookie WorkshopBasic Robot Design TheoryMotor Performance DataSpeed (RPMs)Torque (oz. in.)Current (Amps)Power Out (Watts)EfficiencyHeat (Watts)1700.000.10.00%11594.680.30.526%21479.350.41.034%213614.03

15、0.51.436%212518.710.61.736%311323.380.72.034%410228.060.82.132%49132.730.92.229%57937.411.02.226%66842.091.12.123%75746.761.22.019%82007 FIRST Rookie WorkshopBasic Robot Design TheoryRobot SpeedWhat size wheel should I use if I want my robots maximum speed to be 3 feet per second?2007 FIRST Rookie W

16、orkshopBasic Robot Design TheoryRobot SpeedWhat size wheel should I use if I want my robots maximum speed to be 3 feet per second?2007 FIRST Rookie WorkshopBasic Robot Design TheoryRobot SpeedWhat size wheel should I use if I want my robots maximum speed to be 3 feet per second?(6 inches)2007 FIRST

17、Rookie WorkshopBasic Robot Design TheoryRobot SpeedIf the 6” wheels are the largest I can fit onto my robot, how would I make my robots maximum speed 6 feet per second? 2007 FIRST Rookie WorkshopBasic Robot Design TheoryRobot SpeedIf the 6” wheels are the largest in the kit, how would I make my robo

18、ts maximum speed 6 feet per second (without damaging the motor or making custom wheels)? Put a sprocket on the motor that is half the size of the sprocket on the wheel.2007 FIRST Rookie WorkshopBasic Robot Design TheorySprockets vs. GearsSprocketGears2007 FIRST Rookie WorkshopBasic Robot Design Theo

19、rySprockets vs. Gears2007 FIRST Rookie WorkshopBasic Robot Design TheorySprockets vs. GearsMaximum ratio 8:1972 teethInfinite Ratio Possible13 teeth (120 of chain wrap (180 is better) Chains “stretch” as they wear, have a way to adjust tension2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting

20、Shaftsmotorbearingsprocket2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotorbearingsprocket2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotorwheel2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotorwheel2007 FIRST Rookie WorkshopBuilding a Drivelin

21、eSupporting Shaftsmotor2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotor2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotor2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shaftsmotor2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shafts2007 FIRST

22、 Rookie WorkshopBuilding a DrivelineSupporting Shafts2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shafts2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shafts2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting Shafts2007 FIRST Rookie WorkshopBuilding a DrivelineSupporting S

23、haftsONLY IF SHAFT IS SHORT2007 FIRST Rookie WorkshopBuilding a DrivelineShaft Support Recommendations Never side-load your motors theyre not designed for it. Always have at least one bearing on the output, and try to have two whenever possible. If your shaft is supporting weight, support it in two

24、places. Try to avoid supporting a shaft in three or more places a misalignment will lead to a loss of power.2007 FIRST Rookie WorkshopWhats in the KOP?Whats in the KOP?Whats in the KOP?MotorsCIM MotorWindow MotorVan-DoorMotorFisher-Price MotorGlobe Motor2007 FIRST Rookie WorkshopWhats in the KOPMoto

25、rs2007 FIRST Rookie WorkshopWhats in the KOPKitBot Chassis Metal parts Skyway wheels #35 Chain and SprocketsCIM Motor Transmission and mount2007 FIRST Rookie WorkshopMoving from VEX to FRCMoving from VEX to FRCVEXSet screws are used to attach things to shaftsFRCSet screws inhale audibly. Use a slot

26、and key, brazing/welding, shear pin, or other secure system, or use an axle instead of a shaft.2007 FIRST Rookie WorkshopMoving from VEX to FRCVEXCasters and two-wheel drive systems work wellFRCCasters arent such a great idea. They can prevent the robot from going over obstacles, and reduce traction

27、 on driven wheels.All wheels on the ground should be driven2007 FIRST Rookie WorkshopMoving from VEX to FRCVEXBroken parts are usually easy to fix.FRCIf properly designed, broken parts are easy to fix. Make sure that electronics, shafts, motors, gears, chains, and any other likely to break parts are

28、 accessible.2007 FIRST Rookie WorkshopMoving from VEX to FRCVEXRobots cant do much damage.FRCAn out of control FRC robot can be very dangerous to itself and bystanders. Always take proper precautions when building and testing.2007 FIRST Rookie WorkshopMoving from VEX to FRCVEXFriction bearings are used on shaftsFRCIn mos