Differential Ring Launcher

Differentials allow you to completely isolate motor inputs from a multi-axis output, eliminating the need for things like slip rings on turrets.

• General operation is very similar to a car's differential in reverse (each wheel on the car corresponds to one motor)

• When motors are run in opposite directions, the output spins in place

• When one motor runs faster than the other, the output swivels around the bevel gears.

This design uses a belt to increase the distance between inputs without sacrificing compactness. an HTD5 timing belt connects the two halves of the differential, making the inner bevel gears act like one

• The primary swivel mechanism runs coaxial to the input rotation, allowing for two degrees of freedom on the output

• the secondary output (launcher flywheels) pulls the rotation of the central bevel gears out of the differential

To increase consistency and launch velocity, the two sides of the launcher run at different speeds.

• Each flywheel pair drives large o-ring belts that compress the foam rings and accelerate them outwards

• The launch platform utilizes UHMW tape to reduce friction between rings and robot, increasing launch speed and efficiency.

• A servo indexes the rings from the bottom of a stack, allowing for continuous reloading and firing