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https://images.squarespace-cdn.com/content/v1/60b109222dd9177ff136036e/1626111179290-VREUBYIRMHH1ML65VDI4/2019+Full+Robot.png https://images.squarespace-cdn.com/content/v1/60b109222dd9177ff136036e/1ca75b07-9bd0-4f3c-bcca-b71976cee64f/2019+Alpha+Drive+Train.png Portfolio - FRC 2019: Valkyrie - During the 2019 season I was the design lead of the team and contributed by adapting and optimizing the butterfly drive design I had worked on before the season started. The butterfly drive train included 4 pneumatically actuated modules each with one traction and one omni wheel. When the pistons are retracted the drive train is a 8 wheel center drop ideal for pushing and defense. When the pistons extend only the omni 4 wheels touch the ground allowing the robot to slide and allowing a skilled driver to make faster turns and maneuver around defense bots. I also helped design part of the climb system which involved integrating a power take off (PTO) into the drive train that would allow the drive train to drive wheels on the bottom of the climber legs via a set of gears that would engage once the climber legs were pulled down by the elevator. Although complicated, this system reduced the number of actuators needed and the weight of the robot, both of which are very limited given the size and complexity of the robot. Because it was my first build season on the team, I focused primarily on learning but quickly became an integral part of the team.