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Pros and Cons
Tipping Point Drivetrain V3
In this design, only 4 motors were used to power both the power arm and the drivetrain making the motor output most efficient.
We used 4, 200 rpm motors to provide speed and torque at the same time
We added Optical Shaft Quadrature Encoders to our drivetrain in order to find the accurate rotations of our wheels which can be used for autonomous
We have a 6 wheel drivetrain to ensure a balanced load on the drivetrain.
Omni wheels are used to make turns more accurate and smoother while providing enough traction
From the previous design, we added two more motors for more power, added two more wheels for stability, and replaced all wheels to Omni wheels for better traction on the platform
Having 4 motors meant that only 4 motors can be used for other components
The rings may get stuck on the wheels so additional blockers may be needed
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