Drivetrain and Chassis Requirements (2021-2022)

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

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

University of Waterloo Robotics Design Team