The drivetrain of the mining robot is the group of components that transfers power to the driving wheels. This group of components consist of motors and gearboxes. The selected motors were 12V CIM motors since they are the most reliable motors supplied for First Robotic Competition, reassuring that the provider is trustworthy and their products are or quality.
Gearboxes were used to reduce speed and increase torque. The expected drive speed of the mining robot is 0.16m/s. According to the performance graph of the 12V CIM Motor, the ungeared motor is desired to run at 3800 RPM with an output torque of 0.6N-m. The expected gear ratio is calculated to be 64:1, which is a common ratio for robots.
As a result, Banebots P80 64:1 gearboxes are the final approach. They are designed directly matching the 12 V CIM motors. In addition, they are sealed boxes which are dustproof. Since it is 4-wheel driving robot, there are four pairs of motors and gearboxes. For each module, the CIM Motor is connected with the P80 64:1 gearbox using screws, and the whole thing is clamped with the chassis. The actual appearance for each molecule is shown in the following.