Wheel Unit Design Evolution 

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This was the first crack at a wheel unit. Here we have a vertical gear train that would gear down the motor 45:1 (that means the motor would turn 45 times before the output axle turns once).

Though this design had good width and height, it was way too long. Two of these bad boys side by side would exceed threshold dimensions.

Alberto's design

This creation was light, had built in compartments for dual engines to power each wheel (that's one motor per wheel), and had gear trains shaped into an L-shape.

The design had a tight look no?

Patrick's design

This design was much more compact, boasted faster rotation (since the wheels were closer together), and also had dual gear trains (one to power each wheel).

You can see down both shafts to view the gear trains.  Also, the engine modification version (above), grew in dimension a tad in order to accomodate two engines.

Patrick's design (with some of that Derek inpsiration).

This bad boy became our one wheel unit. Still fairly compact, it would function also to provide us with fast turns. It boasted two gear trains and some pulleys. The pulleys were put in anticipation for use with shaft encoding.

New specs include dual motors controlling one wheel.... mmhmmmmm that means there were still four motors, but each wheel would have two motors powering it. Why? The more motors powering a wheel, the closer you get to the actual speed you want that tire to move (more power tends to thwart pressure and weight from above, as well as other factors)

That bad boy looks pretty "open" huh? Yeah... that adds to the lightness...

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This page was last updated on 7/13/03
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