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Re: pic: Duodec-Drive (Octocanum)
The CAD for the module has been available for download on http://www.teamneutrino.org/seasons/...bot/butterfly/. You can see how the module works pretty well from it.
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Re: pic: Duodec-Drive (Octocanum)
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I had only ever viewed butterfly & octocanum drives as a curiosity, but now I'll have to reconsider! |
Re: pic: Duodec-Drive (Octocanum)
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Re: pic: Duodec-Drive (Octocanum)
I would recommend pivoting on the traction wheel unless you have some serious side support. (See Aren's image where the module is snug between the channel.) We had a lot of problems on the 2010 148 drive with this. Your traction wheels will stay put, but the modules will flex sideways under sideloads. We used chains and had issues with them coming off. May not be such a big deal with belts, though.
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Re: pic: Duodec-Drive (Octocanum)
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The main reason I chose to pivot on the omni wheel was to keep the CIM hard mounted, rather than swinging with the module (single stage of gearing to the omni wheel). -Aren |
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