[asid61]

Originally Posted by Aren_Hill

I like the concept, as someone who has utilized the large steel sleeve of the CIM structurally before.

I will warn against taking any loads with the face of the CIM, this is a rather thin wall cast component, which I have seen break in normal mounting configurations.

See if you can find a way to clamp higher up on just the steel sleeve, for both parts, the module rotation and the main frame mount. It'll be interesting to accomplish that and still properly pilot the CIM for the gear mesh.

Also I have next to zero confidence in that wheel/tread setup surviving for a match, once you get past a certain point there is simply not enough contact to transfer the forces required without extreme wear, one of the reasons I stopped at the ~3" diameter territory with my designs.

Thanks for the advice. I thought the face was machined, but if it breaks that easily it looks like I'll have to rethink a lot of it. I'm currently working on an iteration of this idea that should be stronger while pushing the weight under 5lbs (finally).
Does the tread just come off such small wheels, or is there another problem? I was thinking of just using a colson if what you're saying is the case.

Originally Posted by Mechvet

R30 (as of 2016) allows modifying a motor housing for the purposes of mounting, which certainly opens the door for structural mounting of a CIM.

It may be possible to entirely replace the output shaft plate of the CIM with your main anchoring plate. Only restrictions I'm seeing from the rulebook would be ensuring that your design is not lighter than the original, and that the electrical and mechanical operation of the motor have not been modified.

I recall seeing old threads about a team machining the paint off the CIM to make it shiny, but I want to avoid machining more COTS components than absolutely necessary. That being said, replacing the front plate of the CIM would be an elegant solution.