Ok, so I have made some revisions to the initial design and am happy about most things but the pistons. In order to prevent having to re calculate the positions of the hard stops, I kept the stroke of the piston the same (1.5") and extended the rod length. My concern though is whether or not the pistons rods will flex under the load of having to lift the bot in the air. Here is a photo of the current setup:
Also, if you'd agree that this warrants concern, what might you suggest as a solution? I'd like to keep the single piston per side to help with keeping weight down and I can't think of a workaround at the moment (perhaps I need more sleep)
Just as an update to the revisions made:
1) Spread the wheel modules apart by 4.5".
2) Swapped the toughbox mini's over to a custom stackerbox.
3) Final speeds of 8.5fps on traction wheels and 21fps on mecanums.
4) Swapped to 4in mecanums, mecanums on the pivot with traction on the outside.
5) Ensured that the pistons now have enough force to lift bot.
6) Taken 1.25" off the top of the side plates to make them 5" (the height of bumpers).
All of the following modifications leads to a loss of 10lbs, totaling in at 40lbs. The only downside I see at the moment to these changes is that by going with the custom spinboxes over the toughboxes, is that I can no longer add 4 775's for more torque if deemed necessary.
Also, on a bit of a side note, does anyone have an idea of when Vex will be re-releasing their 4in mecanums?