Drivetrain and Chassis Requirements (2021-2022)

URC Requirements

Requirements on this page originally listed in 2021 Requirements.

ConstraintsCriteria
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/sDetermine 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