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Old 01-06-2020, 08:04 PM   #1 (permalink)
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Dual RC tank build

Figure I would start a build thread for the 2 different tanks/robots that are being built on pirate. Should be a interesting cluster of a thread with a ton of info.

I've started to collected items to design the robot to the parts I can find for cheap and machine on the mill. So far I have recieved in the SK500 rubber tracks from ebay and electric wheelchair motors will be in Thursday.

Track info
~7in wide
.9in thick
roughly 108in in length



Wheelchair motors
Quantum Q6 Edge motors
Continuous 350Watts
Peak power 1000 Watts





dethmachinefab
Do you have info on your sprocket and where you found the idler wheels?

So far I'm trying to decided between a 12 or 14in Drive wheel?




.
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Old 01-06-2020, 08:52 PM   #2 (permalink)
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Idlers were cut from 5' sch 40 pipe with cnc plasma cut disks welded in, a 1.5" x.25 tube center hub joining both inner and outer wheels. The hub will recieve bronze bushings. Its an annoying job making them and keeping everything straight. They are ok, but ill build a real jig next time.

The sprocket was a bunch of guess work but ive got the mock up pretty close, i will burn the real ones from some 1/2" plate. Hard to figure out the pitch circle and flat driving lugs of the rubber track vs a standard roller chain.
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Old 01-06-2020, 09:06 PM   #3 (permalink)
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Here is the speed control I'm using. I've run them before and they are a great unit, from a company who stands behind their product. I had one on another vehicle arc into magic smoke and they sent a new one right away.

Lots of different control options and regen braking. Real easy to use and set up.
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Old 01-06-2020, 09:14 PM   #4 (permalink)
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awesome

just remember, no matter how mundane the detail, take a picture and post some notes about it
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Old 01-06-2020, 09:15 PM   #5 (permalink)
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Motors and a close up of a bottom roller.
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Old 01-06-2020, 09:51 PM   #6 (permalink)
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have you considered how you're actually going to do the radio mixing to control the speed controllers?

pixhawk/ardupilot has a tracked vhicle installation called rover that can do all your mixing +autonomy.


hit me up when you get to radio programming.
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Old 01-06-2020, 10:26 PM   #7 (permalink)
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Quote:
Originally Posted by 87manche View Post
have you considered how you're actually going to do the radio mixing to control the speed controllers?

pixhawk/ardupilot has a tracked vhicle installation called rover that can do all your mixing +autonomy.


hit me up when you get to radio programming.
The sabertooth can be controlled by analog input 0-5v, r/c from a standard reciever, simplified serial, and packetized serial. I think I will start with an aircraft transmitter and reciever to get it rolling and then play with some more complex stuff. The motors are capable of running encoders so I may be able to program some neat features.
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Old 01-07-2020, 05:21 AM   #8 (permalink)
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Awesome thread is awesome. Thanks for the thread.
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Old 01-07-2020, 06:22 AM   #9 (permalink)
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Originally Posted by dethmachinefab View Post
Idlers were cut from 5' sch 40 pipe with cnc plasma cut disks welded in, a 1.5" x.25 tube center hub joining both inner and outer wheels. The hub will recieve bronze bushings. Its an annoying job making them and keeping everything straight. They are ok, but ill build a real jig next time.

The sprocket was a bunch of guess work but ive got the mock up pretty close, i will burn the real ones from some 1/2" plate. Hard to figure out the pitch circle and flat driving lugs of the rubber track vs a standard roller chain.
I think I have a working CAD model for the drive sprocket but I will be sticking some cardboad in the CNC mill and tracing one out with a sharpie. Might look funny playing with a cardboard wheel inside the track.

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Here is the speed control I'm using. I've run them before and they are a great unit, from a company who stands behind their product. I had one on another vehicle arc into magic smoke and they sent a new one right away.

Lots of different control options and regen braking. Real easy to use and set up.
Yep. Same model I was looking into. Shame they cost $189 dollars.

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have you considered how you're actually going to do the radio mixing to control the speed controllers?

pixhawk/ardupilot has a tracked vhicle installation called rover that can do all your mixing +autonomy.


hit me up when you get to radio programming.
Going to need to look into this a little more. A few friends recommended the Jumper T16 pro controller.
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Old 01-08-2020, 06:25 AM   #10 (permalink)
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Did a little work on the drive sprocket yesterday. Sure do miss having free access to a waterjet and a 2500watt CO2 laser cutter but a sharpie inside the mill will have to do. Plus I sold my plasma last year which sucks also.

The sprocket I would like to keep less than a 12x12 square so I can purchase chucks of material from ebay or other sites. Today I need to look up the formula for generating a sprocket based off diameter of sprocket and spacing since this one had spacing issues once wrapped.

Sharpie fits perfectly in a 7/16 collet.
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Old 01-08-2020, 04:08 PM   #11 (permalink)
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Originally Posted by Shefron View Post
Did a little work on the drive sprocket yesterday. Sure do miss having free access to a waterjet and a 2500watt CO2 laser cutter but a sharpie inside the mill will have to do. Plus I sold my plasma last year which sucks also.

The sprocket I would like to keep less than a 12x12 square so I can purchase chucks of material from ebay or other sites. Today I need to look up the formula for generating a sprocket based off diameter of sprocket and spacing since this one had spacing issues once wrapped.

Sharpie fits perfectly in a 7/16 collet.
I had a similar issue. It took a bunch of mock ups to get close. Mine is 11" tooth to tooth. To me looks like you need more of a pointed tooth. The first sprocket I ran through my program was all wrong because it's designed for roller chain. The rubber track sprockets follow different parameters because they are linked flat bars.
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Old 01-09-2020, 09:08 AM   #12 (permalink)
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Quote:
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Did a little work on the drive sprocket yesterday. Sure do miss having free access to a waterjet and a 2500watt CO2 laser cutter but a sharpie inside the mill will have to do. Plus I sold my plasma last year which sucks also.

The sprocket I would like to keep less than a 12x12 square so I can purchase chucks of material from ebay or other sites. Today I need to look up the formula for generating a sprocket based off diameter of sprocket and spacing since this one had spacing issues once wrapped.

Sharpie fits perfectly in a 7/16 collet.
Yeah waterjet or laser would be fast but don't go crying in front of me when you have access to a CNC mill... Just order a piece of 1" plate, 1/2" -4-flute roughing mill, and 4 flute finishing mill.

Set your program to do a roughing cut .01 off finished dims(on 1" plate that's probably doable in 4-6 passes) and then 2 full depth passes to finished
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Old 01-09-2020, 12:49 PM   #13 (permalink)
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Where do the tracks come from?

I have been wanting to build a remote control, gas powered, hydraulic driven tracked string mower to mow hillsides on my property.
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Old 01-09-2020, 01:13 PM   #14 (permalink)
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Where do the tracks come from?

I have been wanting to build a remote control, gas powered, hydraulic driven tracked string mower to mow hillsides on my property.
Ditch witch sk500, bobcat mt52, etc wall behind skid steer machines. They go for about 200 each.

Variable piston pumps and hyd motors can be found pretty cheap on surplus center for your idea. I have a done a bunch of hydro drive stuff with them.
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Old 01-09-2020, 02:44 PM   #15 (permalink)
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Going to need to look into this a little more. A few friends recommended the Jumper T16 pro controller.
that looks nice.

I haven't radio shopped since I bought my taranis that runs the same opentx firmware.

opentx is fantastic.

that would allow you to do the mixing needed to control the ESCs, but what I'm talking about is an onboard controller with it's own GPS and the like.

there's also a bunch of autonomy things you can integrate at that poin. like ultrasonic ranging for obstacle avoidance, cameras that can recognize objects, advanced telemetry.

all the nerd shit.
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Old 01-09-2020, 07:16 PM   #16 (permalink)
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Yeah waterjet or laser would be fast but don't go crying in front of me when you have access to a CNC mill... Just order a piece of 1" plate, 1/2" -4-flute roughing mill, and 4 flute finishing mill.

Set your program to do a roughing cut .01 off finished dims(on 1" plate that's probably doable in 4-6 passes) and then 2 full depth passes to finished
Machining it should be easy. I might need to buy some more endmills since most are for AL right now.

Quote:
Originally Posted by dethmachinefab View Post
I had a similar issue. It took a bunch of mock ups to get close. Mine is 11" tooth to tooth. To me looks like you need more of a pointed tooth. The first sprocket I ran through my program was all wrong because it's designed for roller chain. The rubber track sprockets follow different parameters because they are linked flat bars.
I think I finally have the pattern down. Was tempting to just order the drive sprocket for 74 each but unsure yet if I will.

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Originally Posted by 87manche View Post
that looks nice.

I haven't radio shopped since I bought my taranis that runs the same opentx firmware.

opentx is fantastic.

that would allow you to do the mixing needed to control the ESCs, but what I'm talking about is an onboard controller with it's own GPS and the like.

there's also a bunch of autonomy things you can integrate at that poin. like ultrasonic ranging for obstacle avoidance, cameras that can recognize objects, advanced telemetry.

all the nerd shit.
I do need to watch how automated I make the system due to gun laws.
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Old 01-09-2020, 08:58 PM   #17 (permalink)
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Machining it should be easy. I might need to buy some more endmills since most are for AL right now.



I think I finally have the pattern down. Was tempting to just order the drive sprocket for 74 each but unsure yet if I will.



I do need to watch how automated I make the system due to gun laws.
If someone cared to restrict their freedoms, what would they need to be concerned with?

Got my bearings and idler bushings today. Been too busy with work to get anything done though.
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Old 01-10-2020, 07:30 AM   #18 (permalink)
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cool build

randomly found this pic after reading trough

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Old 01-10-2020, 08:42 AM   #19 (permalink)
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oh boy! this looks to be fun.
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Old 01-10-2020, 09:00 PM   #20 (permalink)
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If someone cared to restrict their freedoms, what would they need to be concerned with?

Got my bearings and idler bushings today. Been too busy with work to get anything done though.
ATF doesnt look to kindly to automated guns without being a 3 letter agency. Similar to being illegal to build a full auto firearm without a SOT, and paperwork.

Received in the wheelchair motors today. Looking dam good.
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Old 01-11-2020, 08:09 AM   #21 (permalink)
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ATF isn't going to treat your automated chassis any differently than the RC chassis, as long as the gun doesn't have any capability to be fired by the onboard controller.

in fact I'd say you're already stepping over the line with just RC, as that's a remote trigger.

but who knows in ATF land.
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Old 01-11-2020, 05:25 PM   #22 (permalink)
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Cut out the drive sprockets and rear idlers.
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Old 01-12-2020, 03:51 PM   #23 (permalink)
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Managed to knock out the 2 sprockets today. Took a little time since I had to remount a sacrificial plate on top of the mill fixture plate.

Took about 20 mins of machining but made sure to include a alignment feature in the sprocket if I need to put it back in the mill. The motors worked like a charm using a large battery charger set to 35 amps.
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Old 01-12-2020, 04:23 PM   #24 (permalink)
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Cut out some track frames. I'm thinking I can fit a final drive in the frame to gain some reduction and ground clearance. I need to play with the bearing set up because I don't want to mount them outside the frames.
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Old 01-12-2020, 09:11 PM   #25 (permalink)
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Cut out some track frames. I'm thinking I can fit a final drive in the frame to gain some reduction and ground clearance. I need to play with the bearing set up because I don't want to mount them outside the frames.
Your progress is looking good. How heavy do you think it will be in the end?


Friday I should be picking up a plate 1/4 steel flat bar for the side plates, 1/8 steel plate for the body and maybe 1/4 pipe for spacers between the casters. For the casters I may pick up 12 - 5in or 6in polyurethane on cast iron wheel on ebay for about $240. Little more pricey then making them but time saver and wrong equipment to make them with ease.

Probably will end up with the 6in casters.
https://www.ebay.com/itm/2-Caster-Wh...t/292974160736

Debating on solid mount for the caster wheel or a suspension system.
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