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Below is a list of pointers, components, and caveats that you should be aware of when building your robot. Keep in mind that this list by no means covers everything and that there are some things that can only be gained from experience. Of course, if you have have any questions, drop us an email, and we'll be happy to help.
worm gears.
One of the most useful, yet largely overlooked choices, is a worm gear. A worm gear is a special kind of gear that can increase the force from a motor, in exchange for speed. Keep in mind that the formula for calculating the gear ratio of a worm gear is the number of teeth on the worm wheel to the number of teeth on the worm itself. Since the worm gear acts like a single tooth gear, the gear ratio is the number of teether on a worm wheel to 1.
The worm gear can increase the force, but the speed will also be decreased. For example, if there are 60 teeth on a worm wheel, then the force increases by 60 times; however, it also decreases in speed by 60. It is also not back-driveable by gravity or other forces.
The worm gear can increase the force, but the speed will also be decreased. For example, if there are 60 teeth on a worm wheel, then the force increases by 60 times; however, it also decreases in speed by 60. It is also not back-driveable by gravity or other forces.
gears versus pulley systems.
Gears are great when you need more power or speed. Increasing one will decrease the other. To increase speed, the number of teeth on the gear that is connected to the motor has to be greater than that connected to the attachment. To increase power, to number of teeth on the gear that is connected to the motor has to be less than that connected to the attachment.
Pulleys are good if you want to reach high points with your lifting mechanisms. In the 2012-2013 season, this was good for going to the top level. In the 2013-2014 season, it was helpful for robot lifting. Pulley systems increase the output force, essentially increasing your gear ratio. this lets you carry heavy loads, useful for lifting mechanisms. Also, with bearing wheels in the pulley, friction will decrease. Therefore, it will be easier for the motor to pull the pulley.
Pulleys are good if you want to reach high points with your lifting mechanisms. In the 2012-2013 season, this was good for going to the top level. In the 2013-2014 season, it was helpful for robot lifting. Pulley systems increase the output force, essentially increasing your gear ratio. this lets you carry heavy loads, useful for lifting mechanisms. Also, with bearing wheels in the pulley, friction will decrease. Therefore, it will be easier for the motor to pull the pulley.
the autodesk cad tool.
Often overlooked, the Autodesk CAD tool allows you to virtually construct a robot and simulate it before actually building anything, which is extremely powerful in certain situations. The CAD tool can show a design at any angles, and can help a lot when you learn how to use it. There are many resources and tutorials online that you can take advantage of when designing your robot.
wheels
omniwheels.
As seen from the picture, omniwheels allow a robot to strafe sideways while retaining the ability to move forwards and backwards. They are becoming more and more popular in the FTC world, as smooth turning in place becomes simple with the use of said omniwheels. However, keep in mind that they do have less traction. Use omniwheels on all four sides of your robot to achieve an omnidirectional drive, which allows you to move in any direction without turning. This can be very advantageous when you need to nimbly navigate your way around obstacles.
rubber wheels.
A normal wheel, reinforced with a layer of rubber, which has great traction. Keep in mind while this traction increases grip, it does not allow for smooth turning, which may be an advantage when other robots try to push you over.
When designing your robot, you must consider what trade-offs you will encounter. If you want a fast robot that can maneuver around enemy robots, consider omniwheels. If you want a more reliable and robust robot, you should employ rubber wheels.
When designing your robot, you must consider what trade-offs you will encounter. If you want a fast robot that can maneuver around enemy robots, consider omniwheels. If you want a more reliable and robust robot, you should employ rubber wheels.
motors
dc motors.
The main choice in the FTC tournament. The DC motor outputs the greatest power and speed, but in return, is less precise when stopping. If one is looking for precision, consider an encoder attachment that can accurately count the number of revolutions.
servo motors
Used for specialized jobs requiring precision. Keep in mind if the servo motor is exposed to too much force/weight, it will burn out easily and will not function ever again.