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| A | B | C | D | E | F | G | H | I | J | K | L | M | N | O | P | Q | R | S | T | U | V | |
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1 | Team | Season (Year) | Pulley ratio | Pulley Toothcount | Profile | Pitch (mm) | Belt Width (mm) | Wheel diameter (in) | Wheel width (in) | Wheel Type | High Gear Ratio (before Pulley) | Low Gear Ratio (before Pulley) | Tensioners? | exact c-c? | offset to exact (c-c) | Type of Machine exact c-c machined on. | # and Type of motors | Successful? Comments? | ||||
2 | 1768 | 2014 | 1 | 18 | HTD | 5 | 9 | 4 | 1 | VersaWheel DT | 4.1 | 15 | Yes | No | N/A | N/A | No problems for our first two events but all 4 belts broke eventually at our third. Gates belt failure analysis guide says that the type of breaks that occurred are from normal belt wear and failure, probably meaning that alignment and tension was fine but the pulleys were too small. | |||||
3 | 2791 | 2014 | 1 | 18 | HTD | 5 | 9 | 4 | 1 | roughtop | ~8.5 | N/A | Yes | No | N/A | N/A | 4 cims | Ratcheted going full forward to full reverse. Single serpentine belt loop with idlers in tube. Wouldn't recommend this particular style of belt drive. 10:24 reduction done in belts on prototype, quickly failed under load | ||||
4 | 192 | 2012 | 1 | 22 | GT2 | 5 | 9 | 6 | 1.5 | Colsons | 6 | 24 | No | Yes | N/A | CNC Mill | 4 CIM | 2 belts per side. Ratcheted during turns and rapid direction changes. Due to slight pulley misalignment, edges of belts wore down until the teeth stripped off. Replaced every ~10 matches. | ||||
5 | 192 | 2012 | 1 | 24 | HTD | 5 | 9 | 4 | 1 | VersaWheel W-tread | 4.17 | 11.3 | Yes | No | N/A | N/A | Cams (like WCP sells) are a must. You won't be able to get/maintain the right tension without them. We also used the VersaTrucks, they make for a really neat WCD system that works well with belts. No ratcheting, awesome performance. | |||||
6 | 1002 | 2012 | 1 | 24 | GT2 | 5 | 9 | 3.5 | 1.125/2 | blue nitrile tread | 4.511278195 | 9.868421053 | Yes | No | N/A | N/A | 6 CIM | tensioners to allow removing wheels and ensuring perfect belt tension, since it is crutial. Few ratcheting problems. Broke belts as time went on, on the edge. skinnier wheels on the ends to improve turning. successful | ||||
7 | 1660 | 2013 | 1 | 24 | GT3 | 5 | 9 | 3.5 | 2.625/1.125 | Blue Nitrite | Yes | No | N/A | N/A | 4 CIM | tensioners to allow removing wheels and ensuring perfect belt tension, since it is crutial. Few ratcheting problems. Broke belts as time went on, on the edge. skinnier wheels on the ends to improve turning. successful | ||||||
8 | 3495 | 2014 | 1 | 24 | HTD | 5 | 9 | 4 | 1 | VersaWheel W and DT | 7.44 | N/A | No | No | Direct Drive Center WCD 6 CIM, using 15mm pulleys on center, and 9mm pulleys on outer wheels. Using cams to tension bearing blocks. The practice bot sheared a belt after about 20 hours, and the competition bot sheared a belt after about 25 matches, plus practice time. The quiet and smoothness, plus the fact they don't stretch still makes them very successful, even if they shear occasioN/Ally. Might try bigger pulleys during the summer. -- After season update. We snapped another 6 belts over the course of the season, and switched back to chain. Unless we can get bigger pulleys that fit in a WCD and thicker belts, we most likely won't go back in drive. | |||||||
9 | 4488 | 2014 | 1 | 24 | GT2 | 5 | 9 | 3.5 | 2 | blue nitrile tread | 5 | 13.33333333 | Yes | No | N/A | N/A | 4 CIM | tensioners to allow removing the wheels, and ensuring propper belt tension. Wear problems were undertensioned problems, but close to the edge. minimal ratcheting problems (after tensioner bolts backed out) | ||||
10 | 100 | 2011 | 1 | 28 | HTD | 5 | 9 | 4 | 2 | Treaded Colson | No | Yes | 0 | CNC Mill | ||||||||
11 | 2614 | 2014 | 1 | 30 | HTD | 5 | 9 | 4 | 1.5 | Colsons | 8.33 | N/A | Yes | Yes | N/A | CNC Mill | Tensioners were Not needed, they were only present to fix an issue with belts rubbing on our bellypan. No ratcheting, No issues, it was assemble and forget. 10/10 would do again. | |||||
12 | 2791 | 2014 | 1.2 | 30 | HTD | 5 | 9 | 4 | 1.5 | Versa traction, wedge top | 3.67 | 8.33 | no | no | na | Versa blocks | Gear box is belt drive to drop center wheels. Originally 9mm belts changed to 15mm belts because of failures. Outer wheels driven by center wheels. 9mm belt width 30T pulleys. Two belt failures over 2 regionals & Practice. Belts currently tensioned low enough so they rachet rather than break. Really happy with Versa block/ cam tensioners. | |||||
13 | 2974 | 2014 | 1 | 30 | GT2 | 5 | 9 | 4 | 1.5 | Colsons | 4.8 | 12.9 | Yes | Yes | N/A | CNC Mill | 4 CIM | 8WD, use "top tensioners" (start using exact C-C, tensioner presses the top of belt slighty to dial in perfect tension). Have had zero issues, will do it again and again. | ||||
14 | 11 | 2010 | 1 | GT2 | 5 | 9 | 5 | roughtop | N/A | Yes | No | 4 cims, 2 fish | Ratcheted crossing bumps | |||||||||
15 | 3495 | 2013 | 1 | 54 | HTD | 5 | 11 | 6 | 1.25 | black roughtop | N/A | 5.94 | No | ? | ? | CNC Mill | 4 CIM | 6WD two bels per side. Verry little wear, never changed belts, never ratcheted very easy mateN/Ance because of sliding axels | ||||
16 | 2495 | 2013 | 1 | 22 | GT2 | 5 | 15 | 3.5 | 1.25 | black roughtop | 4.8 | 14.14 | No | No | added .01 | CNC Mill | 4 CIM | 6WD two belts per side inside 2"x2" tube. belts damaged from debris and replaced at 3rd regioN/Al (could have left them in and they would have been fine) never had ratcheting problems, Not damage due to wear. | ||||
17 | 2590 | 2013 | 1 | 22 | HTD | 5 | 15 | 6 | 1 | roughtop, 0.05 u on front | 6 | N/A | Yes | No | N/A | N/A | 4 CIM | No problems with belts during RegioN/Als and Championship. For the longer loops of belt, a 15 tooth sprocket was used for adjusting tension, which also allowed the slack to take the drivetrain apart whenever needed. | ||||
18 | 2791 | 2014 | 1 | 22 | GT2 | 5 | 15 | 3.5 | 1.5 | Black Roughtop | 3.4:1 | 7.54:1 | No | No | 0.0125 | CNC Mill | 6WD two belts per side inside 2"x2" tube. Entire drivebase completely sealed. No ratcheting Nor wear, never had to replace or touch a single component | |||||
19 | 125 | 2011 | 1 | 24 | GT2 | 5 | 15 | 4 | 2/1.25 | Colsonss/black roughtop | Yes | No | 4 cims | Replaced belts at every event out of paraNoia but never ratcheted | ||||||||
20 | 971 | 2012 | 1 | 24 | HTD | 5 | 15 | 5 | 1.5 | Colsons | 5.5 | 14.6 | No | Yes | 0.002 | Prototrak CNC | 4 CIM | 3 belts per drive side, 8WD. Assembled belts/wheels in later January and never touched them again. Never ratchedted, skipped, or popped off pulley. Went through a scrimmage, 2 regioN/Als, championships and 5 off-season events thus far. Belts never flinched. We will be moving forward with very similar designs from here on out. | ||||
21 | 2175 | 2013 | 1 | 24 | 5 | 15 | 6 | 1.5 | Colsons | 11.7 | N/A | No | Yes | N/A | cnc mill - haas tm-1 | 4 cims | No problems this year either. | |||||
22 | 2415 | 2013 | 1 | 24 | GT2 | 5 | 15 | 6 | 1 | blue nitrile | 11.1 | 5.6 | No | Yes | added .003 | manual mill (ended up with probably .01" tolerance) | 4 CIM | 6WD wcd, expierienced ratcheting when switching from forward to reverse (likely due to tension/poor c-c), had the center wheel pulleys in the gearbox which made maintenance annoying because the gearbox had to be opened to get to the belts | ||||
23 | 2415 | 2013 | 1 | 24 | GT2 | 5 | 15 | 6 | 1.5 | Colsons | 6 | 24 | No | No | added .003 | CNC Mill | 4 CIM | 2 belts per side. Zero ratcheting. Very little wear on edges of belts. Changed belts after 2 regioN/Als, just to be safe. | ||||
24 | 3310 | 2014 | 1 | 24 | HTD | 5 | 15 | 4 | 1.5 | Colsons | 6.1 | N/A | No | Yes | N/A | CNC Mill - haas tm-1 | Switched to VEX belts and HTD this year. Stayed using B&B pulley stock. No noticeable differences in drive performance. No ratcheting, slipping, or other problems even under heavy defense. | |||||
25 | 1771 | 2013 | 1 | 26 | GT2 | 5 | 15 | 3.5 | 1 | Colsons | N/A | 14.736 | No | Yes | 0.003 | manual mill | 6 cims | Never ratcheted but belts were too tight | ||||
26 | 842 | 2012 | 1 | 27 | GT2 | 5 | 15 | 6 | 1.5 | Colsons | 12.75 | N/A | No | Yes | N/A | CNC Mill | 4 cims | Dual belts rather than single serpentine this year. Zero problems whatsoever, A++, would do again. A few features added to make in-tube mainteN/Ance easier. | ||||
27 | 836 | 2012 | 1 | 30 | GT2 | 5 | 15 | 6 | 1.5 | Colsonss/pneumatic | N/A | 14.736 | No | Yes | N/A | waterjet | 4 cims | Ratcheted crossing the bump | ||||
28 | 971 | 2012 | 1 | 30 | GT2/HTD | 5 | 15 | 6 | 1 | roughtop/roughtop/omni | 8.45 | N/A | Yes | No | N/A | N/A | 4 cims | Single belt per side, serpentine path with roughly 120 degrees of wrap on the center pulley. OccasioN/Al skipping seen on center pulley, attributing it to our fiberglass frame and cantelevered pulleys/axles. Will be using similar approach next year with stiffer (aluminum) frame. Lasted 1 regioN/Al + champs with No failures. | ||||
29 | 2791 | 2014 | 1 | 30 | HTD | 5 | 15 | 4 | 1 | blue nitrile | 7.08 | 15.32 | Np | Yes | 0.002 | CNC Mill | 8WD WCD 4CIM. No ratcheting going full throttle fwd-reverse. No ratcheting in low gear when driving against wall. | |||||
30 | 2415 | 2013 | 1.5 | 40 | HTD | 5 | 15 | 10 | 1 | Conyeyor Belt | 9.4 | 24 | No | Yes | 0 | Mill/Waterjet | Successful. 40T pulley on gearbox output to 60T on axle. Belts were on 90T pulleys between wheels (wheel-to-wheel). The was robot maxed out in weight - 120.0lb, and had 19.8lb bumpers to help CG. No issues with belts or pulleys. The competition bot is still running to-date, never replaced belts or pulleys. This was our first year running belts; probably way overkill... | |||||
31 | tensioners to allow removing wheels and ensuring perfect belt tension, since it is crutial. Due to the different tensile element, over-tensioned GT3 at the beginning. Broke the first set of 4 belts quickly. Next set of 4 were tensioned properly, and haven't broke. Ratcheting occurs when the tension isn't perfect. Successful, but are going to look at 15mm wide next year. | 2015 | 2 | 18, 36 | HTD | 5 | 15 | 8 | 2 | 8in Andymark mecanums | 6.55 | N/A | Yes | Yes | N/A | N/A | 4 belts, each on 1 CIM | We drove 4 mecanum wheels using VexPro claming gearboxes and bearing blocks. The pulley system added an additional reducion that made our 8in wheels at a reasonable speed. Using the tensioners was a must. We never had to exchange bellts, and there was never any ratcheting as we drove. No issues, great drivetrain. | ||||
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