Mech for Rookies
Presented by CPR Mech & CAD Division
Basic Vocabulary
Omni-wheels
On the main structure, these wheels have mini-rollers perpendicular to the axel, which allows these wheels to drift, slipping from side to side.
Mecanum-wheel
These are similar to omni wheels except that their mini-rollers are angled at 45º to manipulate movements at an angle.
Swerve Drive
This specialized drive train has the ability to spin and drive at any angle or direction. Each wheel is powered by two motors; one gives the wheel its power to move while the other turns the wheel to control its trajectory.
Drop 6/Westcoast drive/Traction wheel/Kit of Parts drivetrain
Here, the robot frame has six or eight normal traction wheels with the center wheels lowered usually 1/8 in. to lessen the friction inflicted by back wheels when turning.
GT2/HTD/Timing belt
Using these provides a way of transferring power and creating mechanical advantages, especially in all styles of pulleys and belts. GT2 and HDT are different standards but they are interchangeable.
Bearing
These useful pieces allow shafts to spin freely and accurately without eroding robot mechanisms.
Hex Shaft/.5 Hex/ Thunderhex
This is the main type of shaft used in FRC.
Versa Planetary Gearbox
This is a modular gearbox system, including everything needed for gear reduction stages and encoders.
Compliant Wheel
These wheels, coming in a few sizes, have the ability to compress field elements and offer a good grip.
NEO
Many FRC teams are seeing these brushless motors replace the old-style CIM motors. They definitely offer an advantage when it comes to drive train.
NEO 550 (NEO Mini)
This motor is good for auxiliary devices like intakes and angle motors on swerve, considering its exceptionally small size for a powerful motor.
Falcon 500
This motor is new as of the 2020 season. It can be considered a level beyond the standard NEO, but does experience issues due to current limitations.
Solenoid
This is a tool used to control air flow for the pneumatics.