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Exploring FRC Drive Systems: Types, Advantages, and Disadvantages

This resource provides an in-depth look at various drive systems used in FRC competitions, catering to programming and electrical team members. It covers a range of configurations such as 2WD, 4WD, 6WD, swerve, crab, and holonomic systems. Each type is analyzed based on its advantages (e.g., control, simplicity) and disadvantages (e.g., maneuverability challenges, mechanical complexity). Understanding these systems is crucial for developing effective robots, enhancing team collaboration, and improving performance in competitions.

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Exploring FRC Drive Systems: Types, Advantages, and Disadvantages

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  1. By: David Gitz, EE, Electrical/Programming Team Mentor FRC #1208 Drive Systems

  2. Audience: • Programming Team Members • Electrical Team Members

  3. Topics • Wheels • 2WD/4WD • 6WD/West Coast • Track • Holonomic/Mecanum • Crab/Swerve

  4. Wheels [2] Swivel Caster Ball Caster KoP Wheel Plaction Wheel Omni-Wheel Mecanum Wheel

  5. simple rear wheel drive simple front wheel drive simple all wheel drive simple center drive 6 wheel drive other? tracked drive Configurations [3] 2WD 4WD 6WD swerve/ crab drive Omni/Mecanum

  6. 2 Wheel Drive • The Good • Cheap; Kitbot is 2WD • Very simple to build • The Bad • Easily spins out • Difficulty with inclines • Loses traction when drive wheels leave floor

  7. 4 Wheel Drive • The Good • More easily controlled • Pretty simple to build • Better traction • The Bad • Turning in place is more difficult • Compromise between stability and maneuverability

  8. 6WD/West Coast [3] • Typically, one wheel is offset from the others to minimize resistance to turning • Rocking creates two 4WD systems, effectively • Typical offset is 1/8” – ¼” • Rock isn’t too bad at edges of robot footprint, but can be significant at the end of long arms and appendages • One or two sets of omniwheels can be substituted for offset wheels.

  9. Tracked [3] • Pushing power increased • Mechanically more complicated • Need to have adequate track tension • Throwing a track and/or breaking one can be easy and very hard to fix • Slower, much more power intensive • Applications • HEAVY duty pushing • Climbing

  10. Omni/Mecanum • Mechanically as complicated as a 4WD System • A lot of times can substitute normal wheels for Omni/Mecanum in tight situations. • Less pushing power, more maneuverable • Control can be more complicated (especially with Mecanum) • More parts that can break

  11. Crab/Swerve [3] • Extremely mechanically and program complex • Lots of parts to make/buy/fix • Highly maneuverable • Requires (normally) precise engineering • Takes up a lot of space, uses a lot of motors • Pure 4-Crab: 5 • Pure 4-Swerve: 8!

  12. Other Information • Steering vs. Drive Systems • In FRC, there are no “Tank” Drive Systems. There is Tank Steering and Track Drive Systems. These terms are NOT interchangeable. • Tank Steering: • Uses 2 Joysticks, Left Joystick controls speed of Left motors, Right Joystick controls speed of Right motors. • Arcade Steering: • Uses 1 Joystick, controls speed of Left and Right motors together.

  13. References • http://www.usfirst.org/roboticsprograms/frc/content.aspx?id=10934 • http://www.andymark.biz • Drivetrain_Fundamentals_v2.1 • FRC_Drive_Train_Design_and_Implementation

  14. Questions?

  15. Homework • 1. Describe the Drive Train FRC Team #1208 (us…) used in the FRC 2010 Competition. • 2. Name 1 advantage and 1 disadvantage of using a Meccanum Drive System. • 3. What is the difference between Tank Steering and a Track Drive System?

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