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-   -   pic: WCD Butterfly Module (http://www.chiefdelphi.com/forums/showthread.php?t=137916)

notmattlythgoe 05-08-2015 15:28

pic: WCD Butterfly Module
 

jagoldman 05-08-2015 15:30

Re: pic: WCD Butterfly Module
 
That's a really cool design. What is the weight of the chasses? Also when you have the high friction wheels down are the Omni wheels touching the ground?

notmattlythgoe 05-08-2015 15:40

Re: pic: WCD Butterfly Module
 
Quote:

Originally Posted by jagoldman (Post 1492491)
That's a really cool design. What is the weight of the chasses? Also when you have the high friction wheels down are the Omni wheels touching the ground?

I don't have weight numbers at this point. The chassis itself is one we developed last summer and used this past season. So the only added weight would be the modules themselves.

In this configuration the omni wheels are allowed to ride along on the ground. Adding a spring to pull them up, if this was undesirable, would be a very easy addition.

AdamHeard 05-08-2015 15:44

Re: pic: WCD Butterfly Module
 
Quote:

Originally Posted by notmattlythgoe (Post 1492494)
I don't have weight numbers at this point. The chassis itself is one we developed last summer and used this past season. So the only added weight would be the modules themselves.

In this configuration the omni wheels are allowed to ride along on the ground. Adding a spring to pull them up, if this was undesirable, would be a very easy addition.

Since they're geared 1:1 I doubt it'd matter too much if they rode on the ground. They'd have next to no normal force anyway.

asid61 05-08-2015 15:45

Re: pic: WCD Butterfly Module
 
Very cool design. The use of the front rail as a brace for the piston is a bold idea.
I noticed that the drive chain will have to run from the center gearbox all the way to the corner so that it isn't on the pivoting sprocket (with a changing C-C distance). But if it does that, then the chain goes through the pivoting sprocket. You might want to make the pivot point the sprocket that's closer to the chassis to avoid this issue.

notmattlythgoe 05-08-2015 15:45

Re: pic: WCD Butterfly Module
 
Quote:

Originally Posted by AdamHeard (Post 1492495)
Since they're geared 1:1 I doubt it'd matter too much if they rode on the ground. They'd have next to no normal force anyway.

Agreed, which is why the option was not added currently. My only worry is carrying the robot, they might have a tendency to want to swing down. The pneumatic tubing might keep this from happening though.

notmattlythgoe 05-08-2015 15:47

Re: pic: WCD Butterfly Module
 
Quote:

Originally Posted by asid61 (Post 1492496)
Very cool design. The use of the front rail as a brace for the piston is a bold idea.
I noticed that the drive chain will have to run from the center gearbox all the way to the corner so that it isn't on the pivoting sprocket (with a changing C-C distance). But if it does that, then the chain goes through the pivoting sprocket. You might want to make the pivot point the sprocket that's closer to the chassis to avoid this issue.

This is actually a chain in tube chassis, the chain run is identical to our chassis without the modules on it.

Nathan Streeter 18-11-2015 11:53

Re: pic: WCD Butterfly Module
 
I really like this approach on how to make a WCD Butterfly drive!


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