Choosing Drive Train

By Janavi

Task: Analyze the game

In our last post, we created a chart where we listed each task asked based on point value and the level of difficulty, separated by autonomous and teleop. Our goal is to find a drive train that will allow us to build a robot to accomplish all of these tasks efficiently and consistently, but this matrix will allow us to determine what to focus on first.

Drivetrain Comparison

This summer we created a variety of drivetrains for a summer chassis project hosted in coordination with other teams from the North Texas region. We have compiled a list of the drivetrains and the criteria we need to consider for Rover Ruckus.

What do we need to look at in a Drivetrain?

• Light
• Sturdy
• Easily Maneuverable
• Fast
• Low center of mass to avoid tipping
• Reliability

Comparison

	Eliminated?	Reason for Elimination	Pros	Cons
Miniature Mechanum Drive	NO	N/A	Omni-Directional Fast turning Easy to design Experience with Driving/Building light	Uneven power
Big Wheel	NO	N/A	Unique Design	We have less experience
Larger Mechanum Drive	YES	Need light robot; may use mini mechanum chassis instead	Familiar Design	Too heavy for this years competition
Swerve	YES	Difficult design, Many motors and servos, we have less experience	Easier to maintain at high speed	Unfamiliar and difficult to design and maintain
8-wheel Drive	YES	Many wheels, Difficult of maneuver, no omni directional movement	100% power forward	Difficult to maneuver
Holonomic Drive	YES	Less push power in all directions; hard to integrate into robot	Easy to turn and maneuver	Hard to design; hard to integrate into base; Only 50% power in all directions