The ROV project made some technical decisions for the first time this semester at their most recent meeting. The big meeting point was picking out a basic thruster configuration- the competition requires mobility, but given that only so much current (and therefore thrusters) are allowed, what is the best possible configuration?
The team has set the limit of thrusters to be 6. Vector drives were discussed but eventually dismissed, because the added complexity didn’t seem to have enough of a benefit to be worth it.
The final decision for the configuration was to have 2 thrusters to move up and down (one at the front, and another at the back), and to have the remaining 4 thrusters be mounted on the side- 2 to control forward and backwards movement, and 2 to control strafing. By intentionaly offsetting the height of the strafing motors from each other, the chassis can also strafe normally while still being able to perform rolls. This would be used mostly as a corrective feature.
Click here to learn more about this project.