Robot Design

• Know the Rules! (i.e. Read the manual.)
  • Game (tasks and limits)
  • Tournament (strategy)
  • Arena (obstacles and challenges)
  • Robot and Kit of Parts (components, materials, constraints)
• Keep it simple!
  • Simple designs for robots and mechanisms are easier to build, fine tune, and troubleshoot, and generally more reliable.
  • Don't try to do everything.
  • Try to find ways to do things without actuators.
  • Try to use the same actuator for more than one task.
• Build it right!
  • Make it sturdy enough to withstand vigorous interaction with other robots.
  • Keep the center of mass low to reduce tipping risk and improve maneuverability.
  • Protect the more fragile components such as electronics and wiring.
• Watch the weight! (and dimensions)
  • Keep track throughout the design and build process to avoid an excessive weight reduction process at the end.
  • Use the lightest materials and components that will serve the purpose.
• Know your options!
  • What motors are available, how many of each can be used, and what functions are they appropriate for based on motor characteristics?
  • What pneumatic components can be used, what are their capabilities, and what constraints are placed on their use?
  • What sensors can be used and what are their capabilities and limitations?
  • What other materials can be used?
• Change is good!
  • If it doesn't work, fix it.
  • If it still doesn't work, change it.
• Drive for the game! (i.e. Choose an appropriate drive train for the game.)
  • Tank drive (skid steering) is a vehicle drive system with non-steerable wheels in a line on each side of the vehicle (with or without tank treads).   Steering is accomplished by driving the left and right wheels at different rates or in different directions.   The vehicle can pivot on a point by driving one side forward and the other side backwards.   This type of steering is called skid steering because it results in the wheels not just rolling but also sliding or skidding during turns.
    • 2 wheel tank drive (with 1, 2, or 4 casters or un-powered wheels)
    • 4, 6, 8, etc. wheel tank drive
    • Tank treads
  • Omnidirectional drive systems allow sideways movement.
    • Swerve drive is a drive system where multiple wheels are steered and each wheel is driven independently.
      • 2 wheel crab drive (with casters)
      • 4 wheel crab drive has all wheels steered together but driven independently.
      • Full swerve drive has all wheels steered and driven independently.
    • Mechanum drive uses wheels with angled rollers mounted like tank drive.   Traction is reduced.
    • Holonomic drive uses omni wheels mounted at a 45 degree angle at each corner.   Traction is reduced.
  • Other options sometimes used on FIRST robots:
    • Omni wheels as powered wheels to reduce skidding (or as un-powered wheels), but traction is also reduced
    • 2 Steerable wheels with tank drive
    • 2 speed transmission