Competitive

Drivetrain Design
If you cant move, you cant score.

NEFIRST University Day 2014 - Justin Foss

Justin Foss
Product Design Engineer - Parker Hannifin Corporation
o BSME Clarkson University 2o1o
FIRST Participation
o Former Student Member FRC 176 2003-2006
o Former Mentor Member FRC 229 2007-2010
o Former Mentor Member FRC 2168 2011-2013
o Current Mechanical Mentor FRC 558 2013 - Present
o Event Volunteer for FLL, FTC, & FRC

Disclaimer
The presentation which you are about to
witness contains the opinion of the mentor
presenting it, if you are offended, have counter
arguments, or questions please feel free to raise
your hand at any time.
This is meant to be an open discussion.

Introduction
The 3 Most Important Parts of Your Robot:
1. The Drivetrain
2. The Drivetrain
3. The Drivetrain
If you cant move, you cant score or stop your
opponents from scoring.

History Lesson: Einstein Drivetrains

History Lesson: Einstein Drivetrains

TECHNICAL

ORGANIZATIONAL

Talking Points
Knowing Your Customer
Knowing Your Limitations
Understanding The Game
Building from a Baseline
Drivetrain Layouts & Chassis Options
Wheel Selection
Gearboxes & Motors
Power Transmission

Boundary Conditions
Know Your Customers
The Drive Team
The Pit Crew
Your Alliance Partners

Know Your Limitations

Cost
Schedule
Materials/Manufacturing
Skill Set

Understanding the Game

Every Year is a New Challenge.
Strategy must determine your design.
Factors that Influence Drivetrain Design
Game Pieces
Playing Field
o Location of Game Pieces & Scoring Areas
o Structures, Bumps, Ramps, Etc
o Protected Zones
Strategy
o Offense vs. Defense

Building From a Baseline

Steps For Drivetrain Development:
1.
2.
3.
4.
5.

Form a simple and robust Baseline

Starting from Scratch? Kitbot = Baseline
Consider Maintenance and Redundancy
Build, Test, Destroy, and Rebuild
Observe Lessons Learned from your team and the
community as a whole
6. Apply Lessons Learned, Improve Each Year

Always Ask: How is this better than the Kitbot?

COTS Layouts and Options #1 / #2

AndyMark
KOP Drivetrain
Upgrade Packages

VEXpro VersaChassis
VersaFrame + Wheels
Customizable/Upgradable

COTS Layouts and Options #3

FRC558s 2014 Drivetrain: 100% COTS
VEXpro Chassis
VEXpro Gearboxes
VEXpro Sprockets
WCP Colson Hubs
Colson Wheels

Custom Layouts and Options

WCD West Coast Drive
Cantilevered Axles
Typical Direct Drive

Sheet Metal
Side Supported Axles
Direct Drive or Non-Direct Drive

Parallel Plate Construction

Side Supported Axles
Direct Drive or Non-Direct Drive

Wheel Selection
Traction vs. Omnidirectional
COTS vs. Custom
Tread Materials
Conveyor Belting
Rubber

Gearboxes and Motors

1 Speed Gearbox vs 2 Speed Transmission

COTS vs Custom

Power Transmission
Methods of Power Transmission
Belt
Gears
Sprockets/Chain (#25/#35)

Axles - Live vs. Dead

Gearing Guidelines
Single Speed (Safe)
4CIM up to 8 ft/s
6CIM up to 12 ft/s

2-Speed (Typical)
4CIM low 4-8 ft/s, high 10-16 ft/s
6CIM low 6-10 ft/s, high 12-20 ft/s

Remember: Faster =/= Controllable

Acceleration > Top Speed

Recap
The 3 Most Important Parts of a Robot are
the Drivetrain, the Drivetrain, and the Drivetrain

If you cant move, you cant score.

Understand your resources.
Build and work from a Baseline.

Questions, Comments, Concerns