Overview of common chassis types
How could we help a new team to choose a chassis for the robot?
It is very important to select the proper drivetrain for your robot. You need to consider specifics of the game. Your driving style and experience, as well as requirements for lateral movement, power, and speed among other factors are integral to selection of a drivetrain.
Tank drive is most common type of drive seen, as well as the simplest. A Tank drive consists of two rows of wheels parallel to each other on either side of the robot. There are many different subsets, including 4-wheel, 6-wheel, and whether the use of traction wheels included as any of the sets of the wheels.
H-Drives are built as Tank drives are, except there are wheel(s) mounted perpendicular to the drive which allow for lateral movement. All wheels must be omni wheels for the drive to be able to function.
Holonomic drive, also called an X-Drive, consists of wheels mounted at angles from each other. It is good for lateral movement, and increases speed and power of turns. However, linear drive speed and power are decreased due to the nature of how wheels run toward each other to move linearly. All wheels must be omni wheels in order for this drive to function.
Mecanum drive uses 4 mechanum wheels to move linearly forward, backward, left, and right. Mechanum drives are much harder for another robot to push around, however are usually slower than a H-drive.
|1. All omni tank drive||- easy to build||- can be easily pushed to the side|
|- 2 or 4 motors|
|- can be chained front-back|
|2. H-Drive||- all advantages of tank drive||- needs extra motor|
|- tricky to distribute weight|
|3. X-Drive||- resists pushing||- harder to build|
|4. Mecanum||TBD||- requires 4 motors|