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Examples of simple drives 4 wheels
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Vocabulary Skid Steering (Tank Drive) Swerve Drive Holonomic (Omni) Drive Mecanum Drive
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1 .VEX Drive Trains

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

3 . Drive Train A robot’s drive train consists of all of the components used to make the robot move. – Motors – Wheels – Transmissions

4 . Omni-Wheels rollers around the edges allow omni-wheels to roll sideways

5 . 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

6 . 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 doesn’t 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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8 . 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.

9 . Swerve/Crab Drive A swerve drive robot has the ability to rotate its wheels.

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

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

12 . Problems • We decided that all our future robots will have meccano or omni drives. 1. Give arguments, why? 2. Find on Internet good components for such drives. 3. 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).

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