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pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
I'd be concerned about the slender shafts that front and rear of the cylinders attach to. They might not have enough stiffness.
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Re: pic: 2996 Octocanum Prototype
This looks great! Is the weight an issue? Ive seen some really heavy octocanum drives before.
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Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
What was your reason for putting the traction wheels on the pivot? In my team's design, we placed the mecanums on the pivot because then, when you retract the traction wheels, you don't need as much cylinder force to hold them off the ground. For traction mode, the mecanums barely need to be off the ground or can be slightly touching- the cylinders don't need to support nearly as much weight. In your design, the cylinders need to hold the whole weight of the robot up off the ground so only the mecanums are touching.
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Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
Have you thought of doing a single larger cylinder between the two modules a la Blue Cheese. Might be less parts and less weight.
What is your gearing for each wheel shaft in the pods from the CIM? Are you concerned about deflection when the mecanums are down? Seems like a much longer moment arm around the rotation axle. I have wondered this for all the octocanum designs I have seen on CD. It seems like you would want to support the end of the axle that the pod rotates around with a bearing and have an external frame rail running the length. Perhaps the plate between the two pods is enough. Have you tried stacking weight on it to get the bot to 150 pounds? Love the FIRST logo in the frame =) -matto- |
Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
How does this drive train plan to handle bumpers?
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Re: pic: 2996 Octocanum Prototype
I really enjoy looking at these types of drive trains. Back in my days these types of drives were never heard of. I made something to try and accomplish what this does.
These are cooler to see people make for sure. |
Re: pic: 2996 Octocanum Prototype
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Re: pic: 2996 Octocanum Prototype
Wow, pretty!
I would really recommend extending the outer plates that join your pivot points all the way out to the front and back plates if you can. I'd be worried about cantilevering those huge assemblies off the side of a pair of bearings that are only < 1" apart! Doing so would also let you support your side bumpers for more of their length (the 2014 rules required support every 8"). |
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