Whirlpool
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Whirlpool was a mid-season redesign of our original robot to address challenges of crossing over the field barrier and scoring in the shared hub. I designed a 6-wheel drivetrain and 360 degree turret to address these issues, as we could pass through the barrier zones and score without having to reorient the robot.
The first iteration of the turret was a 254 mm belt-driven plate, but its footprint was overkill for the load case and ate into space we needed for other mechanisms. I switched to a 184 mm gear-driven plate, cutting the packaging footprint 28% and freeing up room elsewhere on the chassis, while also simplifying the bearing stack for easier maintenance.