Pre-Selecting an FRC Drive Base

Last year the team took a tip from some veteran teams and pre-selected our drive train.  That means prior to the season we selected what drive train we would use so that we could spend the entire season focused on what we would put on top of the drive train.  Last year we selected a drop center 6 wheel west coast drive with a single speed gear box.  However, after the season started, we decided to switch to the Andymark 2015 kit bot as our base, and instead used all of the parts we had purchased for the west coast drive on our lifting mechanism.  It worked out really well since we had pre-ordered nearly all of the parts for the lifter and the kit bot was handed to us on day one. The team was able to finish a week early and drove for nearly 5 days before bag and tag.

The team did make some modification to the Andymark drive train that we feel made the drive more useful for last years game . And there in lies the beauty of using one of these two standard drive trains, they can be quickly modified because they are designed to flexible.

  • We turned the drive base from a rectangle to a U
  • We swapped out traction wheels on the front and the middle of the U for omni wheels

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We plan on doing the same thing this year and are taking things a step further. We have completed all of the CAD and code that will be needed for our drive system and plan on pre-ordering all of the parts next week.  We have decided to go with a drop center 6 wheel west coast drive with a single speed gear box for the second year in a row.  We are also adding bumper mounts to this years design in expectation of the noodles coming back.  We like the west coast drive solution because it can be easily modified to meet what ever size chassis we may need once we find out the game.  All we have to do is cut the 1″ x 2″ to fit, and then the rest of the fabrication and assembly can happen in a matter of days. This should give our drive team plenty of time to practice with the drive as we complete the rest of the robot.

pre-order pre-order 2 pre-order 3

We still have some work to do on the CAD, here are the list of the changes we are making;

  • Move pulleys inside the frame
  • Add mounts for bumpers and model bumpers according to the 2014 rules
  • Add belts
  • Move the outer wheels closer to the cross members
  • Create a rear gear box configuration
  • Change the some of the permanent fasteners on the T brackets to 10-32 bolts to increase repair ability

 

We are also planning on doing as much as we can out of versa frame since our fabrication capabilities are still growing. In order to meet the goals of finishing the robot at the beginning of week 5 we are going to need to get a jump on our fabrication.  So we figured we would take our pre order a step further and get a lot of the materials we plan on using now, before the season starts so that we can go right from prototyping to fabrication.  Here is a list of everything we plan on pre-ordering;

 

item quantity type price link sub total
hydrolic press 1 tool $       200 http://www.harborfreight.com/20-ton-shop-press-32879.html?ccdenc=eyJjb2RlIjoiNTQyMDQxODciLCJza3UiOiIzMjg3OSIsImlzIjoiMTU0Ljk5IiwicHJvZHVjdF9p%0D%0AZCI6IjQ1MyJ9%0D%0A&utm_medium=email&utm_campaign=4015b&utm_source=1022&cid=mEmail_s1022_c4015b&utm_referrer=direct%2Fnot%20provided&utm_referrer=direct%2Fnot%20provided $         200
Rivet tool head 2 tool $           3 http://www.mcmaster.com/#6659A244 $             6
Riveter 2 tool $         30 http://www.mcmaster.com/#6659A21 $           60
Drill Bits 2 tool $       132 http://www.mcmaster.com/#3186A41 $         263
1/2 hex broach 1 tool $       230 http://www.mcmaster.com/#2875A24 $         230
3/8 hex broach 1 tool $       156 http://www.mcmaster.com/#2875A19 $         156
Tube cutter 4 tool $           8 http://www.amazon.com/Coilhose-Pneumatics-PXC058-BAG-Tubing-Cutter/dp/B00CD8HB1I/ref=sr_1_2?s=power-hand-tools&ie=UTF8&qid=1447593275&sr=1-2&keywords=tubing+cutter&pebp=1447593281040&perid=0ENRN49FG9N1QSY9GM5S $           33
chain breaker 1 tool $         30 http://www.mcmaster.com/#6051K15 $           30
replacement pin 2 tool $           3 http://www.mcmaster.com/#6051K22 $             5
right angle drill 1 tool $       120 http://www.amazon.com/DEWALT-DCD740B-20-Volt-Li-Ion-Right/dp/B007ML7DHS/ref=sr_1_3?s=power-hand-tools&ie=UTF8&qid=1447593504&sr=1-3&keywords=right+angle+drill&pebp=1447593608832&perid=147VE82S41CHTHCHXC3Y $         120
VersaFrame 1″ x 1″ x 0.040″ Pre-Drilled Tube Stock (59″ length) 4 material $         15 http://www.vexrobotics.com/vexpro/versaframe/versaframestock.html $           60
VersaFrame 1″ x 1″ x 0.100″ Pre-Drilled Tube Stock (59″ length) 4 material $         20 http://www.vexrobotics.com/vexpro/versaframe/versaframestock.html $           80
VersaFrame 1″ x 2″ x 0.10″ Pre-Drilled Tube Stock (59″ length) 4 material $         25 http://www.vexrobotics.com/vexpro/versaframe/versaframestock.html $         100
VersaFrame 1″ x 1″ x 0.090″ Angle (59″ length) 2 material $         15 http://www.vexrobotics.com/vexpro/versaframe/versaframestock.html $           30
VersaFrame Corner Gusset 10 material $           8 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           80
VersaFrame 1″ Wide VersaPlanetary Parallel Mount 2 material $         10 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame 2″ Wide VersaPlanetary Parallel Mount 2 material $         10 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame 30 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame 45 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame 60 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame 90 Degree Gusset (2-pack) 10 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           50
VersaFrame 120 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame 135 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame 150 Degree Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame Plus Gusset (2-pack) 2 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           10
VersaFrame End Bearing Mount (2-pack) 4 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame Face Bearing Mount (2-pack) 4 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame Side Bearing Mount (2-pack) 4 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame T Gusset (2-pack) 4 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame VersaPlanetary Face Mount (2-pack) 4 material $           5 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           20
VersaFrame VersaPlanetary Side Mount 4 material $         10 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           40
VersaFrame Linear Motion Gusset Kit 4 material $           8 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $           32
VersaFrame Roller Chain Mount (2-pack) 2 material $           3 http://www.vexrobotics.com/vexpro/versaframe/versaframegussetsandmounts.html $             6
Single Reduction Clamping Gearbox 6 gear box $         10 http://www.vexrobotics.com/vexpro/motion/gearboxes/217-4156.html $           60
VersaBlock Kit 6 gear box $         25 http://www.vexrobotics.com/vexpro/all/versachassis.html $         150
WCP Cam 4 gear box $           5 http://www.vexrobotics.com/vexpro/all/versachassis.html $           20
1/2 hex bearings 20 gear box $           6 http://www.andymark.com/Bearings-s/www.andymark.com/product-p/am-2986.htm $         120
Pneumatic Control Module 1 electrical $         90 http://www.vexrobotics.com/vexpro/motors-electronics/217-4243.html $           90
Mad Catz V.1 Joystick (am-2825) 2 electrical $         34 http://www.andymark.com/Joystick-p/am-2825.htm $           68
Dual Band Radio, OM5P-AN Access Point (am-3277) 1 electrical $       135 http://www.andymark.com/OM5P-AN-p/am-3277.htm $         135
Batteries 1 electrical $         89 http://www.andymark.com/battery-p/am-3062.htm $           89
PWM cables 1 electrical $         83 http://www.andymark.com/product-p/am-2218.htm $           83
Connectors 6 electrical $         14 http://www.andymark.com/product-p/am-2198.htm $           84
Motor Controllers 59.99 electrical $         14 http://www.vexrobotics.com/vexpro/motors-electronics/217-9090.html $         840
Valve, Double Solenoid, 12V Festo VUVG (am-0888) 4 pneumatic $       116 http://www.andymark.com/product-p/am-0888.htm $         462

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