2583's Octocanum Modules

[AdamHeard]

Originally Posted by ferrari77

Here are the screenshots of the dimensions in both positions







I used 150 lbs as the robot weight so that gave me 75 lbs on each side and using 1.0625 bore i got (pi*(1.0625/2)^2*60) i got 53 lbs of pushing force for each side, (106 lbs total and 150 lbs of robot weight)

In the first orientation the calculation is 1.3in*75lbs=97.5lbft of torque from the wheel and 3.21in*53lbs=170lbft of torque from the cylinder which provides almost double the force through the cylinder

In the second orientation the calculation is 1.54in*75=115.5lbft of torque from the wheel and 4.1in*53lbs=217.3lbft of torque from the cylinder which provides almost double the force

The mistake i might have made is, because we are using the same cylinder to push two of the modules is the force cut in half so there would actually be 85 and 108lbft of torque, respectively? This would not give us enough torque and would be problematic

The top speed was calculated using a CIM speed of 5300 and a 90% efficiency. It is around 7 fps for the colsons and 20 for the mecanums

I can't actually read the numbers in the pictures.