Evolution of the Drive Modules

For our 2017 robot, we were really happy with our aluminum tube drive modules.  We designed them to connect to the VersaPlanetary gearbox, with a CIM or miniCIM at the top. A pulley and belt system (same size, though you could manipulate that for mechanical advantage) transferred the motion from the top to the bottom, where we had omni or mecanum wheels.  We like this design because we had, until then, been using a direct drive model. Even when we've used belt or tank drive before, the motors were placed at the level of the wheels, constraining under-robot space.  These drive modules enabled us to pull the motors up off the ground, raise our center of gravity if necessary,  and create opportunities for manipulators that operate low to the ground.

2017 Drive Module Rendering

2017 Assembled Drive Module 

This year, we are using a six-wheeled omni holonomic drive system, and we expect some pretty hefty manipulators to compete in FIRST PowerUp, so we revisited our drive module. Completely assembled, the 2017 drive modules were about 6 pounds.  Our first priority was to reduce weight by excavating non-essential aluminum while retaining structural integrity.  With all the designed in cavities, we shaved about 0.8 pounds off the drive module, which totals to 4.8 pounds of savings over a six-wheeled robot.  An added bonus to this modification was a much easier assembly with all the extra holes for tools and fingers, plus, the increased visibility enables us to troubleshoot much  more easily.

2018 Assembled Drive Module

2018 Drive Module Model

The Hug Take 2

      Today we established our beginning structural model of the H. U. G. base, H. U. G. arms, and H. U. G. pivot point. The FIRST Team 585 produced the necessary parts for the HUG by Using a laser cutter and the additional CAD drawing as a guide for the laser cutter. Once we got our parts all together, we started to assemble the parts by using Hex shafts, bearings, and Hex collars. We used a piece of wood (that consisted of a 1in hole to fit the right bearing) and attached it to the center of a piece of C channel. Once that part was assembled the team attached this to the very center of the base. We made sure to have a piece of wood on both sides of the internal part of the C channel; this gave the Hex shaft a more secured and promising rotation. Finally, we added the Pivot point to the back side of the Hex shaft and added the Hex collar at the end of that to keep it tightly in place; thus putting an end to the day.😀