Butterfly DT

Just some basic changes to the master sketch upon further review it seems there are bigger issues most likely require deeper revision. It all stems from changing the motor diameter it changes center to center distances in the belts as well causes a whole slew of issues.

The physical butterfly module is fully assembled. While FTC Team 26000 used a different wheel layout, this design places one larger wheel in the center of the module. This configuration centers the 104mm mecanum wheel and uses the GT2 belt reduction to link it to the first stage, maintaining a balanced center of mass.Master Sketch CompletionThe master sketch for both the main chassis and the butterfly module is finished. Mapping all geometry in a single master sketch ensured that the 96.24269 mm center-to-center distance for the 20T and 28T pulleys aligns precisely with the packaging constraints of the 8:1 gear reduction stage. This layout locks in the axle positions and gear mesh clearances before manufacturing the final plates.Next Steps: Efficiency and AssemblyWith the core architecture defined, the focus shifts to two main areas:Mechanical Efficiency: Optimizing the module pivots and belt alignment to minimize friction losses from the 5000 RPM motor. This includes pocketing parts to remove unnecessary material weight.Connected Assembly: Finalizing the top-level assembly in CAD to verify clearances for the deployment mechanisms, electronics, and structural brackets across the full chassis.Oh also cool aside this should put me as # today in hackclub hours!

Butterfly Drivetrain DevelopmentThe butterfly drivetrain, or “switch-drive,” is a configuration that allows a robot to switch between two different types of locomotion. In my current build, I use this to alternate between high-traction movement, using 72mm hogback wheels, and omnidirectional maneuvering, using mecanum wheels.My design features a two-stage reduction system. The first stage uses an 8:1 gear reduction to power the hogback wheels directly. The second stage uses a GT2 belt system to further reduce the speed for the mecanum wheels. This ensures both wheel sets maintain consistent surface speeds despite their different diameters.Inspiration: FTC Team 26000My implementation of this system is heavily inspired by FTC team 26000. Their work on the butterfly drivetrain showcases a clean, efficient way to package two distinct movement systems within a compact chassis. I studied their design to understand how they optimized the mechanical linkages for deploying the secondary wheels. This helped me solve the challenge of integrating a 5000 RPM motor with the high torque required for a multi-wheel system.By applying these concepts to my own robot, I am building a versatile drivetrain that adapts to different match conditions while maintaining precise control over wheel speed and grip force.