Meeting Date: 
Mon, 08/30/2010
Start and End Time: 
1:00 - 4:00
Personnel Present: 
Personnel Present: 
Personnel Present: 
Personnel Present: 
Tasks This Meeting: 

Work on gear mechanism that will allow us to expand our robot's wheels.

Reflections For This Meeting: 

Gears are truly an amazing invention.


Using a 12:1 gear ratio when all said and done we are hoping for plenty of power for the stance motors. Although we do plan to double up the motors to have dual gear trains for extra power.

This shows the back side of the gear train.

This shows underneath as we realize we will probably need more gears and bronze bushings.

Finally we have built the wheel set that will attach to the stance motors. We plan on having a 1:1 gear ratio for the drive train and maybe even use 4 motor drive.

With the front wheel on it will act as a skid wheel and will mainly be in action when out in stance.

A interesting fact of the stance robot is that the wheels will have to start on the inside of the robot or sprockets, gears, and chain that power the drive wheels will end up in the ground. Not a good thing for the field or the robot.

After some adjusting to get the two stanced wheels aligned to the same angle so the robot was not at an offset angle we wired it up. With a quick program built we hit the button to see what would happen.

Luckily we found that our gear ratio was plent and that the stance does pull inwards. Thus we can start in the 18" box and expand out to 24".

A side angle of this very clever idea as we all begin looking forward to this new challenge and hoping we can use our stance design in some way.