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Unread 29-04-2014, 19:56
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Madison Madison is offline
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FRC #0488 (Xbot)
Team Role: Engineer
 
Join Date: Jun 2001
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Location: Seattle, WA
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Re: Butterfly/ octocanum drives

Our octocanum modules are 5.75 lbs. each. The pneumatic cylinders driving each pod were mounted to the frame and I don't have the weight of each of those handy. We used four, but you could as easily use 1, 2 or 4 as your frame allowed.

Our first octocanum implementation in 2011, itself the first used in FRC, was made entirely in-house and with no advanced machining techniques. It was designed and built in just a few weeks and while heavy, it was very reliable and effective.

Our 2014 implementation is made with sheet metal and that helped us to realize a lot of weight savings. We relied on our experience from 2011 to design and code the drive quickly.
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