FRC Robot Drivetrain Types and Functions: Tank, Mecanum, Omni, Swerve, H-Drive

What is the primary function of a drivetrain in an FRC robot?

To allow the robot to move, enabling it to complete challenges.

Name one type of drivetrain used in FRC robots.

Tank Drive

What is another type of drivetrain commonly used in FRC robots?

Mecanum Drive

List a type of drivetrain that allows for lateral movement in FRC robots.

Omni Drive

Which drivetrain type in FRC allows for independent wheel control and rotation?

Swerve Drive

What is H-Drive in the context of FRC robots?

A type of drivetrain that combines elements of both tank and omni drives, allowing for lateral movement.

What is the basic structure of a tank drivetrain?

It consists of two tracks with wheels on each side.

How does the robot's movement get determined in a tank drive system?

By the amount of power delivered to each track.

What happens when equal power is sent to both tracks of the robot?

The robot drives forward or backward.

What direction does the robot turn when more power is sent to the left track?

The robot turns right.

What direction does the robot turn when more power is sent to the right track?

The robot turns left.

What is Mecanum drive?

An omnidirectional wheel design used to move a robot in any direction.

How many wheels does a Mecanum drive system have?

Four wheels, each controlled by an independent gearbox.

What is the angle of the rollers attached to each wheel in a Mecanum drive?

45 degrees.

What is a key advantage of using Mecanum drive in robot design?

It allows for free movement in any direction, particularly effective for strafing.

What is a disadvantage of using a Mecanum drivetrain?

It sacrifices traction, which can be crucial depending on the challenges faced in a season.

What is Omni Drive?

A drivetrain system that uses wheels with rollers, allowing for sharper turns without turning the entire robot.

How does Omni Drive differ from mecanum drive?

Omni Drive has a unique roller formation that enables sharper turns compared to mecanum drive.

What is a key feature of each wheel in an Omni Drive system?

Each wheel has its own speed controller and motor control.

How many wheels are typically on each side of an Omni Drive drivetrain?

There are usually three to four wheels on each side.

What is a major disadvantage of using Omni Drive?

The lack of traction, which makes it difficult for the robot to grip the playspace and perform pushing maneuvers.

What is a Swerve Drive?

A drivetrain system with individual modules on each corner that allow for wheel rotation along two axes.

What are the two types of motors included in each swerve module?

One motor for rotation and one motor to drive the wheel.

What is a significant downside of Swerve Drive?

It is difficult to design, build, and program.

Which team has used Swerve Drive for the past two years?

Team 2554.

What does each corner module in a Swerve Drive system allow?

Rotation along two axes.

What is the H-Drive?

A drivetrain structure similar to tank drive with an additional wheel in the center.

What is the primary function of the H-Drive's Omni wheels?

To provide complete movement rather than relying on traction.

How many Omni wheels does the H-Drive utilize?

Five Omni wheels.

What is the primary purpose of a gearbox?

To change the axis of rotation and modify gear ratios.

How do gearboxes affect torque and speed?

They increase torque and reduce speed.

What is a gear ratio, and give an example?

A gear ratio indicates the relationship between the rotations of two gears; for example, a 5:1 gear ratio means one gear spins 5 times for every 1 spin of the other.

Why are gearboxes necessary in mechanical systems?

To change rotation axes and transfer energy from one device to another.

What characteristic of motors necessitates the use of gearboxes?

Motors spin at very high speeds but produce very little usable torque.

What are CIM motors known for?

CIM motors are fat, black, and large, primarily used for wheels.

How do bag motors compare to CIM motors?

Bag motors are similar in appearance to CIMs but are smaller and slightly less powerful.

What is a key feature of the 775 pro motor?

The 775 pro motor is very versatile and is almost always used with versaplanetary gearboxes.

What advantages do REV NEO motors offer?

REV NEO motors are lightweight and compact, allowing for high power density.

What is notable about the Kraken X44 and X60 motors?

they offer very high performance and come with useful software that enhances the programming process.

Actuators

Type of motor that controls a mechanism that is inbuilt.

Actuators Functionality

Makes use of motor and threaded axle for one directional, high torque movement.

Pulley

Pulleys reduce load on motors so that components do not have to undergo as much strain.

Pulleys are used with what?

Pulleys are used with belts.

Sprockets

Gears for chains.

What do all FRC challenges involve?

One or more game pieces that the robot needs to pick up.

What do teams build to pick up game pieces in FRC challenges?

Unique mechanisms.

Cordless Hand Drill

A hand drill that operates without a cord.

Corded Hand Drill

A hand drill that requires a cord to operate.

Drill Bits

Attachments used for different purposes such as boring and fastening.

Rotates Both Ways

The ability of the hand drill to rotate in both clockwise and counterclockwise directions.

What is the primary function of an impact driver?

To drive screws and bolts into stronger materials using many rotational impacts.

How does the torque of an impact driver compare to that of hand drills?

Impact drivers often have higher torque than hand drills, making them better for securing fasteners.

Can an impact driver be used to bore material?

No, an impact driver cannot be used to bore material.

Drill Press

Bigger version of drill.

Drill Press Function

Drills straight down.

Floor/Standing Drill Press

Type of drill press.

Bench Top Drill Press

Type of drill press.

Upright Sensitive Drill Press

Type of drill press.

Band Saw cuts what shapes?

Helps cut irregular shapes.

Band Saw Precision

Cuts with more precision.

Band Saw Mechanism

Is a massive band that spins around.

Band Saw Movement

Does not go up and down.

What is the primary function of a lathe?

To rotate a part rapidly while using a tool perpendicular to cut.

List three safety precautions to take when operating a lathe.

Wear safety glasses, long pants, and closed-toe shoes.

What should you do with sweatshirt strings and longer hair when using a lathe?

Tuck back sweatshirt strings and tie back longer hair.

What does the cross slide do on a lathe?

It moves the lathe along the x-axis.

What is a Miter Saw commonly referred to as?

Chop Saw

What types of materials can a Miter Saw cut?

Metal and wood

What is a safety tip for using a Miter Saw?

Hold the trigger, allow the blade to reach maximum speed, then cut all the way through. Let go and let the blade stop moving before bringing it back up.

What is a single bevel Miter Saw?

A Miter Saw that tilts in one direction.

What distinguishes a double bevel Miter Saw from a single bevel?

A double bevel Miter Saw tilts in two directions.

What is a sliding double bevel Miter Saw?

A Miter Saw that tilts in both directions and doubles the width of its cut.

How does the type of blade affect a Miter Saw?

Different blades cut different materials.

What is a Dremel?

A handheld, corded rotary tool that can spin at very high speeds.

What can be attached to a Dremel?

Many different bits that have various purposes, such as cutting or polishing.

What materials is a Dremel commonly used on?

Metal.

Coarse

Lesser density.

Fine

Higher density.

Band Saw

A power saw with a long, continuous blade that is used for cutting curves and irregular shapes in wood and metal.

Table Saw

A stationary saw with a circular blade mounted on an arbor, used for making straight cuts in wood.

Miter Saw

A saw that makes crosscuts and miters at various angles, typically used for framing and molding.

Circular Saw

A handheld power saw with a toothed or abrasive disc that rotates to cut through various materials.

Reciprocating Saw

A saw that moves a blade back and forth, commonly used for demolition and cutting in tight spaces.

Jigsaw

A saw with a straight, narrow blade that moves up and down, ideal for intricate cuts and curves.

Chop Saw

A type of saw that is used for making straight cuts, often with a rotating blade that can pivot for angled cuts.

Scroll Saw

A fine saw used for intricate cutting, featuring a thin blade that allows for detailed designs.

Metal Cutting Saw

A saw specifically designed with a blade that can cut through metal, often featuring a yellow blade.

Wood Cutting Saw

A saw that is typically unpainted and designed for cutting wood efficiently.

What is the purpose of a tap?

A tap makes internal threads.

What are the three types of taps?

Plug (short chamfer, usually 5 threads), Taper (longer chamfer, 9-10 threads), Bottoming (extremely small chamfer, 2 threads).

Which types of taps are recommended for initial use?

Plug or taper taps are recommended to use first.

What does a die do?

A die makes external threads.

What is the recommended procedure when cutting threads with a die?

Grind a chamfer onto the object, secure the rod, use lubrication, and make one full turn with the die and tap wrench, then one half turn back.

What should you do after threading to ensure quality?

Clean the metal chips with a wire brush and check if the desired nut fits on the rod after it's been threaded.

What is the purpose of a die in threading?

A die makes external threads.

What should be done to the object before cutting threads?

Grind a chamfer onto the object for easier turning.

What is the recommended method for using a die and tap wrench?

Make one full turn with the die and tap wrench, then one half turn back.

How should the rod and tap wrench be positioned during threading?

Ensure both the rod and tap wrench are level.

What should be done after threading to ensure quality?

Clean the metal chips with a wire brush and check if the desired nut fits on the rod.

How are SAE threads measured?

In threads per inch (TPI).