Drivetrain and Chassis Requirements (2021-2022)
URC Requirements
Requirements on this page originally listed in 2021 Requirements.
| Constraints | Criteria |
|---|---|
| Drivetrain must support of X wheels (TBD) | Use O-drive motor controllers on the drivetrain. Wiring from O-drives to motors should be optimized |
| Discuss direct drive vs chain drive | |
Needs to be able to traverse through soft sandy areas, rough stony areas, rocks and boulder fields, vertical drops, and steep slopes | Determine a max rock height that we want to be able to climb? |
Determine the typical and maximum forces applied to the rover (i.e. from tall vertical drops, smaller drops, etc.) | |
| Determine if we need to traverse sandy slopes? | |
| Must dampen shock felt by the rover to protect system electronics | |
| Drivetrain must travel at X m/s | Determine minimum speed needed for rocky traversal or determine the typical speed used in URC? |
| Drivetrain must have a low centre of gravity |
What Information is Needed to be Collected
Necessary...
- Calculations for motor selection
- Torque required for continuous drivetrain operation → determine from MATLAB simulation
- Maximum torque needed to overcome different drivetrain positions → determine from MATLAB simulation
- Torque required to overcome maximum scrub while turning (one-sided turn) → select a wheel, determine its CoF against flooring, determine
- Minimum chassis height required → determine from MATLAB simulation
- Chassis dimensions → once a drivetrain style is decided, do a rough CAD of the suspension and determine the chassis dimensions with some extra space in case
- Joint positions and lengths → determine from wooden prototype
- Wheel tread style → determine from wooden prototype
- Minimum member diameter/width needed to withstand our expected impacts?
NOTE:
- Need to determine what we have in the bay to use for prototyping, then create a shopping list from there