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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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