Programming instructions

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Motion
Inventor’s Guide
276-2178-E-0610
Introduction to the Motion Subsystem
The Motion Subsystem comprises all the components in the VEX Robotics Design System
which make a robot move. These components are critical to every robot. The Motion
Subsystem is tightly integrated with the components of the Structure Subsystem in almost all
robot designs.
In the VEX Robotics Design System the motion components are all easily integrated together.
This makes it simple to create very complex systems using the basic motion building blocks.
The most fundamental concept of the Motion
Subsystem is the use of a square shaft. Most of the
VEX motion components use a square hole in their
hub which ts tightly on the square VEX shafts.
This square hole – square shaft system transmits
torque without using cumbersome collars or clamps
to grip a round shaft.
The square shaft has rounded corners which allow it
to spin easily in a round hole. This allows the use of
simple bearings made from Delrin (a slippery plastic).
The Delrin bearing will provide a low-friction piece for
the shafts to turn in.
These VEX Delrin bearings come
in two types, the most common
of which is a Bearing Flat. The
Bearing Flat mounts directly on a
piece of VEX structure and supports
a shaft which runs perpendicular and
directly through the structure.
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