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Team 2051 - PowerPoint PPT Presentation


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Team 2051. Team 2051 January 14, 2010. Preliminary Design Review. Game Strategy. Offensive Zone Middle Zone Defensive Zone End Game. Kicking Mechanism. Snow blower Pneumatic Pinball. Drive System. Omni Wheel Killough or Holonomic 45° angle Square Set-up 6 wheels

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Presentation Transcript
game strategy
Game Strategy
  • Offensive Zone
  • Middle Zone
  • Defensive Zone
  • End Game
kicking mechanism
Kicking Mechanism
  • Snow blower
  • Pneumatic Pinball
drive system
Drive System
  • Omni Wheel
    • Killough or Holonomic 45° angle
    • Square Set-up
    • 6 wheels
  • Swerve or Crab Drive
    • Parts not available for 2 weeks
slide6

http://www.youtube.com/watch?v=ax_dtCUUKVU

http://techtv.mit.edu/videos/905-first-team-97---week-4-driving

http://www.youtube.com/watch?v=03c3YuflQl4

4 standard wheels
4 Standard Wheels
  • Pros:
    • Simpler than 6 wheel
    • Lighter than 6 wheels
    • Cheaper than 6 wheels
    • All weight supported by drive wheels
    • Resistant to being pushed
  • Cons
    • Turning! (keep wheel base short)
    • Can high center during climbs
      • Bigger wheels = higher COG
4 wheels with omni wheels
4 Wheels With Omni Wheels
  • Pros:
    • Same as basic four wheel
    • Turns like a dream but not around the robot center
  • Cons:
    • Vulnerable to being pushed on the side
    • Traction may not be as high as 4 standard wheels
    • Can still high center = bigger wheels
6 wheels
6 Wheels
  • Pros:
    • Great traction under most circumstances
    • Smaller wheels
      • Smaller sprockets = weight savings
    • Turns around robot center
    • Can’t be easily high centered
    • Resistant to being pushed
  • Cons:
    • Weight
    • More complex chain paths
      • Chain tensioning can be fun
    • More expensive

Note: Center wheel often lowered about 3/16”

mecanum
Mecanum
  • Pros:
    • Highly maneuverable
      • Might reduce complexity elsewhere in robot
    • Simple Chain Paths (or no chain)
    • Redundancy
    • Turns around robot center
  • Cons:
    • Lower traction
    • Can high center
    • Not great for climbing or pushing
    • Software complexity
    • Drift dependant on weight distribution
    • Shifting transmissions impractical
    • Autonomous challenging
    • More driver practice necessary
    • Expensive
holonomic drive
Holonomic Drive

2047’s 2007 Robot

treads
Treads
  • Pros:
    • Great traction
    • Turns around robot center
    • Super at climbing
    • Resistant to being pushed
    • Looks awesome!
  • Cons
    • Not as energy efficient
    • High mechanical complexity
    • Difficult for student-built teams to make
      • Needs a machine shop or buy them
    • Turns can tear the tread off and/or stall motors

997

swerve crab
Swerve/Crab

Wheels steer independently or as a set

More traction than Mecanum

Mechanically Complex!

Adds weight

Don’t try this at home!

end game
End Game
  • 25” x 35” x 4” space available for climbing or hanging mechanisms