Chapter 1: Begin with a Chassis and Basic Materials

In FTC robotics, the chassis serves as the fundamental structural framework, analogous to the foundational core of the entire robot. It provides not only a resilient skeletal structure but also functions as the often-overlooked linchpin supporting essential components such as motors, actuators, sensors, and other pertinent elements. The methodology employed in chassis design transcends mere aesthetic considerations; rather, it represents the proprietary formula that determines the robot's stability and agility throughout the competition.

It is a great idea to start with an FTC starter kit offered by goBILDA: e.g., a Strafer™ Chassis Kit (96mm Mecanum Wheels): https://www.gobilda.com/strafer-chassis-kit-96mm-mecanum-wheels, or a 2023-2024 season package like this: https://www.gobilda.com/ftc-starter-kit-2023-2024-season.

The FTC Starter Kit is comprised of a massive number of individual pieces that can be built into a working FTC competition robot. Typically, a starter kit has pieces worth over $1,400+ but goBILDA provides big package discount for FTC teams. So, the FTC Starter Kit is very cost effective, and is very suitable for beginners to start with.

As shown in Figure 1, the FTC Starter Kit is akin to having a golden ticket — it's essentially the foundational toolkit that kickstarts the entire robot-building adventure. Packed with a curated selection of motors, channels, and essential materials, the Starter Kit is a one-stop-shop for aspiring robot builders. What makes it a game-changer is the plug-and-play convenience it offers.

Assembling goBILDA channels, motors, and mecanum wheels opens a spectrum of possibilities for crafting a versatile and high-performing robot. First and foremost, goBILDA channels, known for their precision and durability, can be assembled to form a robust chassis frame, providing a solid foundation for the entire robot. Mounting motors onto these channels allows for seamless integration, offering flexibility in choosing motor placements to optimize weight distribution and balance. When it comes to mecanum wheels, the assembly process involves attaching them to motor hubs in a specific configuration to enable omni-directional movement. The unique design of mecanum wheels allows the robot to strafe, making it a valuable choice for navigating tight spaces during competitions. Teams often experiment with different configurations and alignments to achieve the desired level of agility and control. The art of assembling goBILDA components lies not only in their structural integration but also in the strategic arrangement that maximizes the robot's efficiency and adaptability in the field. Whether it's a sleek drivetrain for rapid maneuverability or a complex mechanism for game-specific tasks, the assembly of goBILDA channels, motors, and mecanum wheels provides a canvas for innovation and ingenuity in the realm of FTC robotics. Here, I demonstrate two different ways to mount the motors and wheels, as shown in Figures 2 and 3. Figure 4 shows a design that employes both types of configurations in Figures 2-3.  

In the following paragraphs, I’d like to introduce each of the key pieces in the FTC 2023-2024 season Starter Kit.

In FTC robotics, goBILDA motors stand out for their reliability and versatility, and their RPM (Revolutions Per Minute) specifications play a pivotal role in determining their suitability for various applications. The goBILDA motor lineup offers a range of RPM options (Figure 5(a)), allowing teams to choose motors tailored to the specific speed requirements of their robotic mechanisms. Here, higher RPM means lower torque and vice versa. For instance, Figure 5(b) shows an example of using lower RPM motor for a requirement of higher torque. From high-speed drivetrains to precise control systems, teams can strategically select goBILDA motors with the appropriate RPM to achieve optimal performance in accordance with the demands of the game. The RPM values provide a crucial parameter for teams during the design phase, influencing decisions on gear ratios, wheel sizes, and overall mechanical configurations. With goBILDA motors boasting a reputation for robustness and reliability, the integration of their RPM specifications becomes a key factor in the pursuit of creating agile, efficient, and competitive robots for the challenges posed by FTC competitions.

The goBILDA servo mounts (Figure 6) are instrumental components in FTC robotics, playing a crucial role in providing a secure and versatile platform for integrating servos into a robot's design. These mounts are designed with precision and adaptability, allowing teams to attach servos to various structural elements within their robots. The role of goBILDA servo mounts extends beyond mere attachment; they serve as the anchor points for mechanisms such as arms, grippers, or other moving parts that rely on the controlled motion offered by servos, as shown in Figure 7 as an example. The mounts ensure stability during operation and facilitate precise positioning of components, contributing to the overall accuracy and functionality of the robot.

The goBILDA U-Channels (Figure 8) stand as versatile building blocks in FTC robotics, serving as fundamental components in the creation of sturdy and modular robot structures. These U-Channels, characterized by their U-shaped cross-sections, provide an excellent balance of strength and adaptability. Their design allows teams to easily attach various mechanical components, such as motors, sensors, and actuators, using goBILDA connectors and fasteners. U-Channels are commonly employed as the structural backbone for robot frames, serving as the primary building material for chassis construction. Their modular nature enables teams to create scalable and customizable structures, facilitating quick modifications or additions to the robot's design as the competition season progresses. Whether forming the framework for drivetrains, supporting lift mechanisms (Figure 9), or providing a robust base for manipulators (Figure 9), goBILDA U-Channels offer the durability and flexibility required to meet the diverse mechanical needs of FTC robots, contributing to the overall success and adaptability of the robot during competitions.

The goBILDA brackets and mounts (Figure 10) emerge as indispensable components in FTC robotics, offering a versatile and sturdy solution for attaching various elements within a robot's structure. These brackets, designed with precision and durability, play a pivotal role in the integration of motors, servos, sensors, and other mechanical components. With an array of sizes and configurations (Figure 10), goBILDA brackets and mounts provide teams with the flexibility to secure components in diverse orientations, enabling creative and effective solutions to specific game challenges. Common applications include the secure attachment of motors to robot frames, the creation of stable joints for articulated mechanisms (Figure 11), and the establishment of anchor points for sensors or other critical devices. Their adaptability allows teams to experiment with different configurations, facilitating the construction of complex and efficient robotic systems. In essence, goBILDA brackets and mounts are the building blocks that enhance the structural integrity of FTC robots, enabling teams to craft innovative and reliable solutions for the dynamic tasks encountered in the competition arena.

The goBILDA standoffs and spacers (Figure 12) play a crucial role in creating robust and precise structures. These versatile components are available in various lengths and materials (Figure 12), allowing teams to customize their robot designs with precision. Standoffs are used to create space between different robot parts, ensuring proper alignment and preventing unwanted contact. This is particularly important when mounting electronic components, gears, or structural elements. On the other hand, spacers are employed to maintain a consistent gap between adjacent parts, providing stability and reducing the risk of friction-induced wear and tear. The goBILDA standoffs and spacers enable teams to optimize the layout of their robot, enhancing both functionality and structural integrity.

The goBILDA gears come in various sizes and tooth configurations (Figure 13), allowing teams to fine-tune the torque and speed ratios of their robot's mechanisms. In FTC robotics, goBILDA gears find applications in various critical functions such as drivetrains, lift systems, intake mechanisms, and grippers (e.g., those in Figures 7 and 11). The high-quality materials and precise manufacturing of goBILDA gears ensure minimal backlash and efficient power transmission, contributing to the overall performance and reliability of the robot. Whether teams are seeking to optimize speed, torque, or a balance of both, goBILDA gears provide the flexibility needed to design and build robots that can navigate the challenges of FTC competitions with precision and effectiveness.

The goBILDA Rhino Wheels (Figure 14), with their sturdy construction and well-designed treads, excel in providing excellent traction on the playing field. This makes them particularly valuable for drivetrains where a strong grip is essential for precise movement and control. Omni Wheels (Figure 14), with their unique rollers set at an angle, enable omnidirectional movement, allowing robots to smoothly navigate in any direction with ease. This makes them ideal for holonomic drive systems, enhancing a robot's agility during competitions. Gecko Wheels (Figure 14), characterized by their compliant rubber surface, offer a balance between traction and flexibility. This makes them suitable for various tasks, such as intake systems or mechanisms requiring a combination of grip and compliance. Together, these goBILDA wheel options empower FTC teams to tailor their robot's mobility to specific challenges, showcasing the importance of wheel selection in achieving optimal performance on the competition field.

The goBILDA precision-machined shafts (Figure 16), available in various lengths and diameters, provide the structural backbone for a myriad of applications. These include supporting and driving mechanisms such as lifts, arms, and intake systems. The high-quality materials and attention to detail in goBILDA shafting ensure minimal flex, reducing the risk of misalignment and wear within the robot's drivetrain. Additionally, the compatibility with a wide range of goBILDA hubs and motion components makes integration seamless and allows for a modular approach to designing robot mechanisms.

The goBILDA hubs (Figure 17) serve as connection points, allowing teams to link various motion components such as wheels, gears, and pulleys seamlessly. With a variety of hub sizes and patterns, teams can create custom configurations for different robot mechanisms. Couplers (Figure 17) enable the connection of shafts of varying sizes, facilitating the integration of diverse components within the robot's mechanical system. This adaptability is crucial for designing complex and efficient systems. Collars (Figure 17), with their precise clamping mechanism, ensure secure shaft positioning and prevent unwanted movement. Whether it's constructing a drivetrain, a lift system, or an intake mechanism, goBILDA hubs, couplers, and collars provide the structural support and flexibility needed for teams to innovate and optimize their robot designs in the dynamic and challenging environment of FTC competitions.

The goBILDA sprockets, available in different sizes and tooth configurations (Figure 18), allow teams to control the speed and torque of their mechanisms by choosing the appropriate gear ratio. These components are commonly used in drivetrains, lifts, and other motion systems where precise power transfer is crucial. Paired with goBILDA chains (Figure 18), which come in various pitches and lengths, these systems enable the synchronization of multiple components, ensuring coordinated and synchronized movement. The durable construction of goBILDA sprockets and chains is particularly important in the high-impact and demanding environment of FTC competitions, where robots are subjected to intense movements and collisions. With these reliable components, FTC teams can design and build robots that deliver optimal performance and withstand the challenges of the competition field.

These high-quality goBILDA screws (Figure 19) are available in different lengths and thread types, providing teams with the flexibility to accommodate the diverse structural requirements of their designs. From mounting motors and brackets to securing structural elements, goBILDA screws offer a reliable and precise solution for constructing robust robot frameworks. The durability and precision engineering of these screws ensure that connections remain secure, even in the dynamic and rigorous environment of FTC competitions.

The goBILDA nuts (Figure 20) provide secure fastening points for various components, ensuring that connections remain stable under the stresses of competition. With a range of sizes and types, goBILDA nuts are versatile enough to accommodate different thread pitches and requirements. Washers (Figure 20) play a critical role in distributing loads and reducing friction between components, enhancing the longevity and reliability of robot structures. Shims (Figure 20), with their precise thickness variations, enable teams to fine-tune alignments and clearances in mechanical systems. Whether it's assembling drivetrains, mounting brackets, or aligning gears, goBILDA nuts, washers, and shims offer the necessary hardware for teams to construct robots with precision, durability, and adaptability, meeting the challenges of FTC competitions head-on.

The Ball-End Hex-Plus L-Key and Combination Nut Driver from brands like Wera Tools (Figure 21) are indispensable tools for FTC robotics teams, offering precision and versatility in the assembly and maintenance of robot components. The Ball-End Hex-Plus L-Key provides a convenient solution for accessing bolts and screws at various angles, thanks to its ball-shaped end. This feature allows for improved maneuverability in tight spaces, enhancing the ease of assembly and disassembly. The Combination Nut Driver, on the other hand, consolidates the functionality of both a wrench and a nut driver into a single tool. This streamlines the process of securing or loosening nuts on bolts, offering efficiency and convenience. Both tools feature durable construction and ergonomic designs, addressing the demanding nature of FTC competitions. Together, the Ball-End Hex-Plus L-Key and Combination Nut Driver empower robotics teams with the precision and adaptability needed to construct and maintain high-performance robots in the competitive arena of FTC.

The specialized Hex-Plus T-Handle tool (Figure 22), with its T-handle design, offers a comfortable and ergonomic grip, allowing teams to exert precise control during the tightening or loosening of 3mm hex screws commonly used in robotic assemblies. The Hex-Plus feature ensures enhanced contact between the tool and the screw, minimizing the risk of slippage and providing a secure connection. The T-handle design further facilitates rapid turning and efficient torque application, streamlining the workflow in the fast-paced environment of FTC competitions.

Other useful tools for FTC robotics include screwdrivers in various sizes, adjustable wrenches, needle-nose and regular pliers for gripping and bending materials, a set of hex keys for assembling parts with hexagonal sockets, and tape measure.

Additional materials I ordered and used for FTC robotics are briefly introduced as follows.

Included in this linear actuator kit (Figure 23) are all the necessary components to construct a linear actuator using exclusively goBILDA parts. The external framework utilizes the 1120 Series U-Channel, while the extension tube is formed using the 1109 Series goRAIL. Supporting the goRAIL are two acetal plates that can be flexibly mounted along the channel, allowing teams to adjust the overall extension length and lateral support as needed. The motor powers a 60-tooth gear, which, in turn, drives a 60-tooth gear attached to the lead screw, resulting in a compact 1:1 ratio for efficient and controlled linear motion.

The goBILDA 1116 Series Grid Plate Bundle (Figure 24) is a comprehensive kit that provides a versatile and sturdy foundation for building complex robotic structures. This bundle includes grid plates of various sizes and configurations, offering teams the flexibility to create custom frameworks tailored to their specific design requirements. The grid plates, constructed from high-quality materials, ensure robustness and precision in the assembly of robot components. The hole patterns on these plates enable easy integration with other goBILDA parts, facilitating the attachment of motors, servos, and other motion components with precision. Whether used as a base for chassis, supports for mechanisms, or as a framework for intricate designs, the goBILDA 1116 Series Grid Plate Bundle empowers FTC teams to construct durable, adaptable, and high-performance robots capable of meeting the challenges presented in competition scenarios.

This low-side cascading kit (Figure 25) incorporates a low-side linear motion mechanism, utilizing the strength and reliability of goBILDA components. The cascading effect in the design allows for an extended range of motion by linking multiple linear motion stages, making it ideal for applications such as elevators, lifts, and other mechanisms requiring controlled vertical movement. The kit includes precision-cut components that enable straightforward assembly, and its compatibility with goBILDA's ecosystem ensures seamless integration with other motion and structural elements.

These goBILDA miter gears (Figure 26) are crafted from durable steel, ensuring strength and longevity in demanding robotic applications. Their precise engineering and tooth profiles facilitate smooth and efficient power transmission, making them ideal for applications such as drivetrains, gearboxes, and various mechanisms requiring changes in direction. The compatibility with other goBILDA components allows for seamless integration into a robot's mechanical systems, enabling teams to design and build reliable and high-performance robots for competition.

Many other materials of different sizes or dimensions, such as square beams, grid plates, dual block mounts, block pattern mounts, wheels set, low-side cascading kits, jacket planetary gear motors, low-side U-channels, and etc. can be explored and ordered from the goBILDA website.