Team 3200 octocanum CAD

[vchidambaram]

https://drive.google.com/open?id=0B7umyDSAlTgddGRDcF9qYWIwVEt5MkdRb29SRk1Se FROT3Ew
Here is our octocanum design from the fall season. Let me know what you guys think. It uses 4 CIM motors, the 6" mecanums and the 4" HiGrip wheels from Andymark.
Solidworks files: https://drive.google.com/open?id=0B7umyDSAlTgdeWJnS2tSeFkzRU0
STEP file: https://drive.google.com/open?id=0B7umyDSAlTgdTDVMSG9yYk1QMG8

[Ari423]

A few questions:

How much does it weigh (looks really beefy)
Why CIMple boxes instead of a 1-motor gearbox?
What size are those cylinders? They look really fat and stubby (read: large diameter, small throw)

[vchidambaram]

We built a prototype, and with electronics and pneumatics it felt like it weighed close to 60 or 70 lbs. We got kind of busy planning for kickoff and didn't have time to actually measure it. We chose to use CIMple boxes because we had plenty laying around, and the cylinders are 1.5" bore and .5" stroke. It provides enough to get half an inch of clearance, and is capable of lifting 62.7lbs per wheel, to account for where the center of mass ends up being and if the robot has to lift weight, like last year.