Mobility
This season on the mobility team, we decided to use a six wheel drivetrain powered by two Andy Mark shifting transmissions. We mounted our six Andy Mark, 6" diameter wheels inside the frame boundaries, and used a system of idlers and tensioners to run a single chain path between the three wheels on each side of the robot. The middle wheel on each side of the robot was lowered 1/8" lower than the other wheels. This enables the robot to rock back and forth, essentially creating two, extremely compact wheelbases comprised of four wheels each. This will help the robot greatly in making sharper turns at higher speeds without tipping over.