chassis design - github pageskjlaw.github.io/.../team_documents/2007row_chassis.pdf · chassis...
TRANSCRIPT
![Page 1: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/1.jpg)
Chassis Design
Zan HechtManchester, NHJan 5th, 2007
2007 FIRST Rookie Workshop
![Page 2: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/2.jpg)
Outline (modified)
• Basic Robot Design Theory• Building a Chassis• Building a Driveline• What’s in the KOP?
2007 FIRST Rookie Workshop
• What’s in the KOP?• Moving from VEX to FRC• Final Advice• Questions?
![Page 3: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/3.jpg)
Basic Robot Design Theory
![Page 4: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/4.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
ROBOT
A B
![Page 5: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/5.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
ROBOT
A B
![Page 6: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/6.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
ROBOT
A B
![Page 7: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/7.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
A B
![Page 8: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/8.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
A B
![Page 9: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/9.jpg)
Basic Robot Design Theory
Skid (Tank) Steering
2007 FIRST Rookie Workshop
A B
![Page 10: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/10.jpg)
Basic Robot Design Theory
Steering Suggestions• Skid steering is easy
• Single-joystick controls are great for new drivers
• Two-joystick controls gives drivers more control
2007 FIRST Rookie Workshop
• Two-joystick controls gives drivers more control
![Page 11: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/11.jpg)
Basic Robot Design Theory
4 Wheels vs. 2 Wheels
2007 FIRST Rookie Workshop
![Page 12: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/12.jpg)
Basic Robot Design Theory
4 Wheels vs. 2 Wheels
2007 FIRST Rookie Workshop
![Page 13: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/13.jpg)
Basic Robot Design Theory
4 Wheels vs. 2 Wheels
2007 FIRST Rookie Workshop
![Page 14: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/14.jpg)
Basic Robot Design Theory
Slicks vs. Grips
2007 FIRST Rookie Workshop
![Page 15: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/15.jpg)
Basic Robot Design Theory
Slicks vs. Grips
2007 FIRST Rookie Workshop
![Page 16: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/16.jpg)
Basic Robot Design Theory
Slicks vs. Grips
2007 FIRST Rookie Workshop
![Page 17: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/17.jpg)
Basic Robot Design Theory
Wheel Suggestions• It doesn’t matter how many wheels you have, as long as they all are driven
•If you plan to turn, you should only have two “grippy” tires
•Incline Conveyor Belt (wedge-top, rough-top)
2007 FIRST Rookie Workshop
•Pneumatic Tires
•Soft Rubber Tires
• Remaining wheels should be slick
•Hard rubber or plastic
•Omni-wheel/Wonder-wheel
•Zip ties (in case of emergency only!)
![Page 18: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/18.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 19: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/19.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 20: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/20.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 21: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/21.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 22: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/22.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 23: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/23.jpg)
Basic Robot Design Theory
Center of Gravity
2007 FIRST Rookie Workshop
![Page 24: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/24.jpg)
Basic Robot Design Theory
Weight Distribution Suggestions• Your center of gravity must be between your wheels
• Your center of gravity must be between your wheels even when your robot is at an angle
2007 FIRST Rookie Workshop
when your robot is at an angle
• The wheels closest to your center of gravity should be grippy
![Page 25: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/25.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 26: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/26.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 27: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/27.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 28: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/28.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 29: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/29.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 30: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/30.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 31: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/31.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 32: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/32.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 33: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/33.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 34: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/34.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 35: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/35.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 36: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/36.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 37: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/37.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 38: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/38.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 39: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/39.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 40: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/40.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 41: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/41.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 42: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/42.jpg)
Basic Robot Design Theory
Chain Theory
16 32
2007 FIRST Rookie Workshop
16 32
![Page 43: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/43.jpg)
Basic Robot Design Theory
?*inputoutput rpmrpm =
Chain Theory
2007 FIRST Rookie Workshop
?*
?*
inputoutput
inputoutput
torquetorque
rpmrpm
=
=
![Page 44: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/44.jpg)
Basic Robot Design Theory
* inputinputoutput teeth
teethrpmrpm =
Chain Theory
2007 FIRST Rookie Workshop
?*
*
inputoutput
outputinputoutput
torquetorque
teethrpmrpm
=
=
![Page 45: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/45.jpg)
Basic Robot Design Theory
output
inputinputoutput teeth
teethrpmrpm *=
Chain Theory
2007 FIRST Rookie Workshop
input
outputinputoutput
output
teeth
teethtorquetorque
teeth
*=
![Page 46: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/46.jpg)
Basic Robot Design Theory
?=speed
Robot Speed
2007 FIRST Rookie Workshop
?=robotspeed
![Page 47: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/47.jpg)
Basic Robot Design Theory
πwheelrpm=
Robot Speed
2007 FIRST Rookie Workshop
π**60 wheelwheel
robot Diameterrpm
speed =
![Page 48: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/48.jpg)
Basic Robot Design Theory
2007 FIRST Rookie Workshop
![Page 49: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/49.jpg)
Basic Robot Design TheoryMotor Performance Data
Speed (RPMs)Torque (oz.
in.)Current (Amps)
Power Out (Watts)
Efficiency Heat (Watts)
170 0.00 0.1 0.0 0% 1
159 4.68 0.3 0.5 26% 2
147 9.35 0.4 1.0 34% 2
136 14.03 0.5 1.4 36% 2
2007 FIRST Rookie Workshop
125 18.71 0.6 1.7 36% 3
113 23.38 0.7 2.0 34% 4
102 28.06 0.8 2.1 32% 4
91 32.73 0.9 2.2 29% 5
79 37.41 1.0 2.2 26% 6
68 42.09 1.1 2.1 23% 7
57 46.76 1.2 2.0 19% 8
![Page 50: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/50.jpg)
Basic Robot Design Theory
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
2007 FIRST Rookie Workshop
maximum speed to be 3 feet per second?
![Page 51: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/51.jpg)
Basic Robot Design Theory
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
2007 FIRST Rookie Workshop
maximum speed to be 3 feet per second?
3~**60120~
3 wheelDiameter=
![Page 52: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/52.jpg)
Basic Robot Design Theory
Robot Speed
What size wheel should I use if I want my robot’s maximum speed to be 3 feet per second?
2007 FIRST Rookie Workshop
maximum speed to be 3 feet per second?
21
≈wheelDiameter (6 inches)
![Page 53: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/53.jpg)
Basic Robot Design Theory
Robot Speed
If the 6” wheels are the largest I can fit onto my robot, how would I make my robot’s maximum
2007 FIRST Rookie Workshop
robot, how would I make my robot’s maximum speed 6 feet per second?
![Page 54: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/54.jpg)
Basic Robot Design Theory
Robot Speed
If the 6” wheels are the largest in the kit, how would I make my robot’s maximum speed 6
2007 FIRST Rookie Workshop
would I make my robot’s maximum speed 6 feet per second (without damaging the motor
or making custom wheels)?
Put a sprocket on the motor that is half the size of the sprocket on the wheel.
![Page 55: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/55.jpg)
Basic Robot Design Theory
Sprockets vs. Gears
2007 FIRST Rookie Workshop
Sprocket Gears
![Page 56: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/56.jpg)
Basic Robot Design Theory
Sprockets vs. Gears
2007 FIRST Rookie Workshop
![Page 57: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/57.jpg)
Basic Robot Design Theory
Sprockets vs. Gears
2007 FIRST Rookie Workshop
Maximum ratio 8:1
9–72 teeth
Infinite Ratio Possible
13 – ∞ teeth (<18 not recommended)
![Page 58: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/58.jpg)
Basic Robot Design Theory
Sprockets vs. Gears
2007 FIRST Rookie Workshop
Face Alignment Critical Spacing Critical
![Page 59: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/59.jpg)
Basic Robot Design Theory
Gear and Sprocket Recommendations
• Sprockets are used with chains, gears mesh with each other
• Sprockets and gears are NOT interchangeable
2007 FIRST Rookie Workshop
• Sprocket and chain systems are easier to build than gear systems
• Gear systems can be smaller and lighter than chains and sprockets
![Page 60: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/60.jpg)
Basic Robot Design Theory
Idler Gears
16 3232
2007 FIRST Rookie Workshop
16 3232
![Page 61: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/61.jpg)
Basic Robot Design Theory
Idler Gears
16 3216
2007 FIRST Rookie Workshop
16 3216
![Page 62: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/62.jpg)
Basic Robot Design Theory
Further Gear and Sprocket Recommendations
• Idler gears change direction of motion, but don’t change gear ratio
• Properly designed gear or chain and sprocket systems are ~97% efficient at each gear/sprocket, so idlers don’t effect much if you don’t go overboard
2007 FIRST Rookie Workshop
each gear/sprocket, so idlers don’t effect much if you don’t go overboard
![Page 63: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/63.jpg)
Basic Robot Design Theory
Wheelbase
2007 FIRST Rookie Workshop
![Page 64: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/64.jpg)
Basic Robot Design Theory
Wheelbase
2007 FIRST Rookie Workshop
![Page 65: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/65.jpg)
Basic Robot Design Theory
Wheelbase
2007 FIRST Rookie Workshop
![Page 66: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/66.jpg)
Basic Robot Design Theory
Wheelbase
2007 FIRST Rookie Workshop
![Page 67: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/67.jpg)
Basic Robot Design Theory
Wheelbase
2007 FIRST Rookie Workshop
![Page 68: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/68.jpg)
Basic Robot Design Theory
Wheelbase Recommendations
• Short and wide robots turn easily and have lots of control, but will tend to not drive straight
•Long and narrow robots will not turn easily and will have poor turning
2007 FIRST Rookie Workshop
•Long and narrow robots will not turn easily and will have poor turning control, but will tend to drive very straight
•Depending on the task, you should balance the two
![Page 69: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/69.jpg)
Building a Chassis
![Page 70: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/70.jpg)
Building a ChassisDesign Tradeoffs
•Stable vs. Maneuverable
•Accessible vs. Compact
2007 FIRST Rookie Workshop
•Accessible vs. Compact
•Strong & Rigid vs. Light
•Manufacturable & Affordable vs. Everything
![Page 71: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/71.jpg)
Building a ChassisKit Chassis
2007 FIRST Rookie Workshop
• Advantages: lightweight, quick to build, uses standard parts• Disadvantages: may not fit your design, requires added structure (that
will most likely be put on anyway)
![Page 72: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/72.jpg)
Building a ChassisT-Slot Extrusion (80/20)
2007 FIRST Rookie Workshop
• Advantages: quick to build, standard parts, easy to create tension and to add fastening points
• Disadvantages: heavy, expensive
![Page 73: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/73.jpg)
• Advantages: lightweight, strength, fits your design
• Disadvantages: takes time, requires skill,
Building a ChassisAluminum Tube and Plate
2007 FIRST Rookie Workshop
time, requires skill, non standard parts
![Page 74: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/74.jpg)
Building a ChassisMiscellaneous
2007 FIRST Rookie Workshop
• Advantages: fits your design, unique• Disadvantages: takes much time, requires skill, non standard
parts
![Page 75: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/75.jpg)
• Aluminum Extrusion– 1/16” – 1/8”: usable but will dent and bend– T-slot: use 1” sized profiles or higher
• Aluminum Plate, Bar, and Angle– 3/16” – ¼” used often
• Plastic Sheet
Building a ChassisMaterials
2007 FIRST Rookie Workshop
• Plastic Sheet– Spans structures, provides bracing– Polycarbonate (LEXAN, etc.) NOT Acrylic (Plexiglas, etc.)
• Wood– Lightweight and easy to use– Will splinter and fail but can be fixed
• Steel Tube and Angle– Strong, but heavy, 1/16” wall thickness is plenty strong
• Misc– Extruded fiberglass, PVC tubing, etc. Use your imagination!
![Page 76: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/76.jpg)
Building a Driveline
![Page 77: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/77.jpg)
Building a DrivelineDesign Tradeoffs
•Speed vs. Power
•Traction vs. Maneuverability
2007 FIRST Rookie Workshop
•Traction vs. Maneuverability
![Page 78: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/78.jpg)
Building a Driveline6-Wheel Drive
2007 FIRST Rookie Workshop
![Page 79: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/79.jpg)
Building a DrivelineSwerve Drive
2007 FIRST Rookie Workshop
![Page 80: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/80.jpg)
Building a DrivelineTreads
2007 FIRST Rookie Workshop
![Page 81: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/81.jpg)
Building a DrivelineOther Wheel Configurations
2007 FIRST Rookie Workshop
![Page 82: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/82.jpg)
Building a DrivelineStandard 4-wheel Tank Drive
2007 FIRST Rookie Workshop
![Page 83: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/83.jpg)
Building a DrivelineWheel Sources
• Kit of Parts Skyway wheels (more available at FIRST team discount from 800-332-3357)
• Colson Casters (available from many places, including http://www.robotmarketplace.com/)
2007 FIRST Rookie Workshop
• FIRST Specific wheels (high traction wheels, omniwheels, etc)
•http://andymark.biz/•http://ifirobotics.com/
•Make your own (can be made from aluminum, wood, HDPE, lexan, etc.)
![Page 84: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/84.jpg)
Building a Driveline
Driveline Recommendations
• There are many types of drivelines, choose the one that best fits your specific game strategy.
• A well driven, reliable, “vanilla” driveline will beat a complex and unreliable
2007 FIRST Rookie Workshop
• A well driven, reliable, “vanilla” driveline will beat a complex and unreliable driveline in competition.
![Page 85: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/85.jpg)
Building a Driveline
Chain Wrap
Motor
2007 FIRST Rookie Workshop
Motor
WheelWheel
![Page 86: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/86.jpg)
Building a Driveline
Chain Wrap
Idler
2007 FIRST Rookie Workshop
Motor
WheelWheel
![Page 87: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/87.jpg)
Building a Driveline
Chain Wrap
Idler
2007 FIRST Rookie Workshop
Motor
WheelWheel
![Page 88: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/88.jpg)
Building a Driveline
Chain Tension
2007 FIRST Rookie Workshop
![Page 89: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/89.jpg)
Building a Driveline
Further Gear and Sprocket Recommendations
• All sprockets must have >120º of chain wrap (180º is better)
• Chains “stretch” as they wear, have a way to adjust tension
2007 FIRST Rookie Workshop
![Page 90: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/90.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
bearingsprocket
![Page 91: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/91.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
bearingsprocket
![Page 92: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/92.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
wheel
![Page 93: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/93.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
wheel
![Page 94: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/94.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
![Page 95: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/95.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
motor
![Page 96: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/96.jpg)
Building a Driveline
Supporting Shafts
motor
2007 FIRST Rookie Workshop
motor
![Page 97: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/97.jpg)
Building a Driveline
Supporting Shafts
motor
2007 FIRST Rookie Workshop
motor
![Page 98: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/98.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
![Page 99: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/99.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
![Page 100: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/100.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
![Page 101: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/101.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
![Page 102: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/102.jpg)
Building a Driveline
Supporting Shafts
2007 FIRST Rookie Workshop
![Page 103: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/103.jpg)
Building a Driveline
Supporting Shafts
ONLY IF ONLY IF SHAFT IS SHAFT IS
2007 FIRST Rookie Workshop
SHAFT IS SHAFT IS SHORTSHORT
![Page 104: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/104.jpg)
Building a Driveline
Shaft Support Recommendations
• Never side-load your motors – they’re not designed for it. Always have at least one bearing on the output, and try to have two whenever possible.
• If your shaft is supporting weight, support it in two places.
2007 FIRST Rookie Workshop
• If your shaft is supporting weight, support it in two places.
• Try to avoid supporting a shaft in three or more places – a misalignment will lead to a loss of power.
![Page 105: Chassis Design - GitHub Pageskjlaw.github.io/.../team_documents/2007ROW_Chassis.pdf · Chassis Design Zan Hecht Manchester, NH Jan 5 th, 2007 2007 FIRST Rookie Workshop](https://reader031.vdocuments.us/reader031/viewer/2022021823/5b36411b7f8b9aad388cd8d2/html5/thumbnails/105.jpg)
Questions?