Drive Essentials
“The best drive train…
is more important than anything else on the
robot
meets your strategy goals
can be built with your resources
rarely needs maintenance
can be fixed within 4 minutes
is more important than anything else on the
robot”
-Andy Baker
Set a Schedule!
Get something driving early
End of week 2
Practice for operators
Strategy lessons
Continuously improve
Good enough is not good enough
Finish final drive train by week 4
Note that…
Good drive bases win consistently
Reliable drive bases win awards
Well-controlled, robust drive bases win
Championships
Boat anchor = any heavy mass that does
not move
A non-reliable or non-repairable drive base
will turn your robot into a boat anchor
Note that…
Speed is game dependent, however, it
increases every year.
Controllable top speed: 15 ft/sec
Average 1-speed rate: 9 ft/sec
Good pushing speed: 5 ft/sec
Drive Essentials
Decide together after kickoff:
Speed, power, shifting, mobility
Use most powerful motors on drive train
Give software team TIME to work
Give drivers TIME to drive
Know your resources
Drive systems Infomation
Systems differ in advantages and
disadvantages.
Motion Control
Holonomic : Controllable DOF equal
Positional DOF
Non-holonomic: Controllable DOF is less
than Positional DOF
Holonomic
Non-holonomic
Basic Drive Types
Non- holonomic
Tank
Holonomic
Crab
Omni –including Mecanum
Classic tank drive
Tank Wheels can be added at
a lower contact point
Moves in one direction
Cannot drive left or right
without turning
Navigate on difficult
ground
Simple to construct
Pushes well in direction
of travel
Crab High traction wheels
Pushes and holds position
Typically has four wheels Difficult to drive
Wheel turning delay
Diverse
Tank
Car
Swerve drive
Involves eight motors
drive motors and turning
motors
Turning drives require
encoders
Complex software
Maneuverable on flat
Omni
surface
Difficult to drive on terrain
Difficult to push an object
Immediate turning
Moves in one direction Incline difficulty
Typically has three
wheels
Can drive forward,
reverse, left, right, turn
right and turn left
Maneuverable on a flat
Mecanum surface
Can incline in forward
position only
Pushes fairly
Typically has 4 wheels reasonably
4 independent wheels
Weight should be
balanced on all four
wheels
4 wheel drive, 2 gearboxes
Driven Driven
Wheels Wheels
Motor(s) Motor(s)
Chain
or belt
+ Easy to design
+ Easy to build
+ Inexpensive
+ Powerful
+ Sturdy and stable
- Not agile
-Turning is difficult
-Adjustments needed
4 wheel drive, 4 gearboxes
Driven
Wheels
Motor(s) Motor(s)
+ Easy to design
+ Easy to build
+ Powerful
+ Sturdy and stable
+ Many options
Mecanum, traction
- Heavy
Driven
- Costly
Wheels
Motor(s) Motor(s)
6 wheel drive, 2 gearboxes
*Being Agile
1. Middle wheel at lower
point of contact
2. Omni wheels on front,
back, or both
Tank tread drive, 2 gearboxes
Gearbox Gearbox
+ Powerful
+ VERY Stable
- NOT AGILE Sole ability: to go over
- HEAVY objects
- Inefficient
- Not fast
- EXPENSIVE
- Hard to maintain
3 wheel drive, 2 gearboxes
Light weight
Gearbox Gearbox
Fast
Various types
Not standard
Drive Effectiveness
Quiz time
#1
A tank tread drive with two gearboxes
can easily
A. Push
B. Go over objects
C. Be designed
#2
According to Andy Baker, “the best drive
train …
A. Is the most important thing on your
robot”
B. Can be fixed within 15 minutes
C. Needs maintenance through out the
season
#3
When adding wheels between any two
driven wheels what should you do? Why?
A. Position them at a higher level of contact
B. Position them at the same level
C. Position them at a lower level
#4
What type of wheel is this?
A. Omni
B. Mecanum
C. Tank
#5
How many motors should a crab drive
have?
A. Eight
B. Four
C. Two
#6
Name some characteristics of
the following drive types.
Tank tread drive, 2 gearboxes
Gearbox Gearbox
+ Powerful
+ VERY Stable
- NOT AGILE Sole ability: to go over
- HEAVY objects
- Inefficient
- Not fast
- EXPENSIVE
- Hard to maintain
4 wheel drive, 2 gearboxes
Driven Driven
Wheels Wheels
Motor(s) Motor(s)
Chain
or belt
+ Easy to design
+ Easy to build
+ Inexpensive
+ Powerful
+ Sturdy and stable
- Not agile
-Turning is difficult
-Adjustments needed
3 wheel drive, 2 gearboxes
Light weight
Gearbox Gearbox
Fast
Various types
Not standard
4 wheel drive, 4 gearboxes
Driven
Wheels
Motor(s) Motor(s)
+ Easy to design
+ Easy to build
+ Powerful
+ Sturdy and stable
+ Many options
Mecanum, traction
- Heavy
- Costly
Motor(s) Motor(s)
6 wheel drive, 2 gearboxes
+ Easy to design
+ Easy to build
+ Powerful
+ Stable
+ Agile*
Gearbox Gearbox
- Heavy **
- Expensive **
** - depending on
wheel type
