pic: Butterfly Drive V2

[GeeTwo]

It looks good, but just a few questions and things to check if you haven't already:

• I understand that your speed is 16 FPS with omnis and 7 FPS with Colsons, meaning that you will run mostly on omnis and use the Colsons for pushing matches and perhaps to kick off sprints; is this correct?
• The weakest part of the side tubes will be where you cut the holes for the omnis, with the locations of the Colsons being next. Be sure when you mount bumpers that they mount to the chassis at locations other than these to avoid a bent frame.
• The push-only, spring return is one way to avoid transferring lateral forces to the piston; we have found another for our strafe wheel actuator: the open portion of our clevis pin is significantly longer than the clevis is wide, meaning that small deviations will not apply a lateral force to our piston.
• Be sure that the Colson ends of the modules, when faced with a lateral force, will contact the side walls of the tube away from the rotating axle, and preferably either between the wheels or above the green spacer/barrel nut where the tube is strongest.
• You probably realize this, but note that your CoG is well off-center. Be sure to balance the load with the battery, control board, and/or manipulator placement. The CoG should ideally be between the two strafe wheels.
• What angle of rotation of the strafe module is required for the wheels to engage the carpet? I've seen modules that went almost vertical, but these look like they only need to rotate a few degrees. One of these days I'm going to have to have a good session at a dry-erase board to figure out what the proper angles and proportions are for one of these modules.