VEX Drive Trains

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VEX Drive Trains
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Drive Trains

• Vocabulary
• Skid Steering (Tank Drive)
• Swerve Drive
• Holonomic (Omni) Drive
• Mecanum Drive

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Drive Train

• A robots drive train consists of all of the
  components used to make the robot move.
• Motors
• Wheels
• Transmissions

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Omni-Wheels

• rollers around the edges
• allow omni-wheels to roll sideways

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Mecanum-Wheels
Left and right wheels are different. Not
Available for VEX

• Rollers at 45 angles on the edges of
• mecanum wheels allow multi-directional movement

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X-Wheel Drive

• X how many wheels are connected to motors
• Two wheel drive two wheels are powered
• Four wheel drive four wheels are powere
• How many motors the robot has doesnt matter
• The squarebot has only two motors, but it is an
  example of four wheel drive since all four wheels
  are connected to motors.

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Skid Steering(Tank Drive)

• The left and right side of the robot are
  independently powered.
• To rotate, one side goes forward and the other
  goes backwards.

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Swerve/Crab Drive

• A swerve drive robot has the ability to rotate
  its wheels.

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Omni Drive

• Omni wheels pointing in opposite directions allow
  the robot to move in any direction or spin.

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Mecanum Drive
Mecanum drive is an omnidirectional drive system
where mecanum wheels are setup in a traditional
four wheel drive system.
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Problems

• We decided that all our future robots will have
  meccano or omni drives.
• Give arguments, why?
• Find on Internet good components for such drives.
• Present a complete design of an inexpensive robot
  base for a large and heavy humanoid robot that
  would be able to move rotate in all directions
  making an impression that the robot walks. (robot
  has legs to imitate walking).