pic: Plywood Butterfly Drive Render

[AllenGregoryIV]

Originally Posted by Joe G.

With the 6 CIM layout especially, I would recommend flipping your wheels so that it pivots about the traction wheel rather than the omni. Doing this prevents the module from being side loaded when pushed sideways in traction mode.

The biggest issue with this is it makes it harder to do your reductions. If the omni wheel is floating, it's the module that normally is powered first before the traction wheel. In many designs this means the CIMs need to float with the modules, 1477 did it this way this year. Floating the traction wheels allow for much easier gearing. We didn't see any bending in our modules this year that had the traction wheels floating but we used steel side plates. I've heard of teams putting delrin blocks between the modules and the frame to prevent the modules from taking all the side loads when the traction wheels are pushed down.