Butterfly Drive

3D Model

The goal of this drivetrain was two-fold. The first was to see how compact of an area I could get all of the main components of a typical FRC robot into. The second was to design a drivetrain that allows for two types of drivetrain. This is configured to switch between mecanum, which allows for movement in any direction, but with much less traction and power, and skid steer, which is limited in movement but has much greater traction and therefore pushing capability.