pic: FRC488 - 2014 Octocanum Pod - Top
 

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

how are you actuating the unit?

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

These are really nice. I am assuming that you are actuating the entire pod due to the mounting holes. Cant wait to see it in action. Very nice work.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

The highlighted bracket is attached to a 1.5" bore, 1.5" stroke cylinder. There is one cylinder for each pod. It pushes on a 3/8" bolt that will be located on the right side of the pod shown above.

The pivot is on the far left of the pod, behind the mecanum wheel.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

This is really nice. In terms of design/simplicity, it's the best ocotocanum I've ever seen.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Madison, out of curiosity what is your change in ground clearance from Mecanum to traction?

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

There's about 1/2" of clearance.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

That looks delightfully compact and sleek!

Curious: Why did you go with 4" mecanum wheels? Is it just a weight/compactness issue? Our octocanum switches from 6" mecanum (with a .75" sprocket) to 2" colsons (with a 1 7/8" sprocket!) to get the lowest gear reduction possible without an additional shifter.

Also, are you actuating all four cylinders from a single valve? If so, how fast is the switch?

Thanks!

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

It was entirely about making the modules as compact as possible. Not much additional thought went into the decision beyond that.

We haven't decided yet if we're going to actuate all four cylinders together through a single valve or give them each (or in pairs) a valve to increase air flow. We'll probably try it both ways and, if there's no really compelling reason for the added airflow, use a single valve.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Fair enough. May I ask what each pod weighs, with motors and wheels?

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Solidworks says they're 5.75 lbs. each.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Okay, so you're about 1.5 lbs lighter than us, per pod, but (I think?) we have a greater gear reduction (7x) when switching to traction mode.

Thanks for sharing--it's always neat to see other teams' take on the same basic functionality.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Yeah -- our low gear reduction is "only" 2.92:1 lower than the mecanum wheel and 17.52:1 overall.

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

Very cool design, I hope to see it in competition.
Just curious, does that weight include the mounting bracket(s) and pneumatic cylinders?

Re: pic: FRC488 - 2014 Octocanum Pod - Top
 

It does not. They are integrated into the frame, so I don't know what they weigh individually. I'll take a look at that when I can get at Solidworks again later tonight.