FRC Team 1086 Legendairy Octocanum MK V

[Darkseer54]

Team 1086 would proudly like to present its 2015 offseason project: Our LegenDairy Octocanum MK. V


Stats:
• 4CIMs + 4 MiniCIMs
• 4” Andymark Mecanum wheels
• 2” Hex Broached Colson wheels
• Mecanum Speed ≈ 16fps Free Speed, 14fps Actual
• Traction Speed ≈8fps Free Speed, 7fps Actual

Changes from MK III (Last Built Octocanum):
• 8 Motors
• In 4 Motor Configuration, lighter than MKIII
• Single Stage Reduction rather than Toughbox Nano
• Frame Pieces are laser cut .09
• Colson Modules are bent 1/8”
• Piston is now 2” stroke rather than 3”
• Bearings are press fit and Loctite-ed in

All questions or comments are welcome!

[Taylor]

Best workshop carpet ever.

[notmattlythgoe]

Looking good guys. How does it handle being hit from the side with the traction wheels down?

I need to come out and visit your shop at some point.

[wilsonmw04]

Originally Posted by notmattlythgoe

Looking good guys. How does it handle being hit from the side with the traction wheels down?

I need to come out and visit your shop at some point.

Matt, You are welcome anytime.
To answer your other question: we haven't really tested that. It's something we can do, though. I'm not that concerned, however. If we were to be hit in that way pulling the tractions up and running on the mecanums should solve that issue. We used that maneuver to good effect in Aerial Assist.

[notmattlythgoe]

Originally Posted by wilsonmw04

Matt, You are welcome anytime.
To answer your other question: we haven't really tested that. It's something we can do, though. I'm not that concerned, however. If we were to be hit in that way pulling the tractions up and running on the mecanums should solve that issue. We used that maneuver to good effect in Aerial Assist.

There seems to be a decent amount of extra space between the frame rails and the modules themselves. One thing you could try is to put some delrin on either side of the modules and move the frame rails closer together to basically pinch the module between them. You'd then get horizontal support for the modules.

Hopefully we both make it to the DCMP so I can see it in person if the game calls for a drivetrain like this again.

[Darkseer54]

Originally Posted by notmattlythgoe

There seems to be a decent amount of extra space between the frame rails and the modules themselves. One thing you could try is to put some delrin on either side of the modules and move the frame rails closer together to basically pinch the module between them. You'd then get horizontal support for the modules.

Hopefully we both make it to the DCMP so I can see it in person if the game calls for a drivetrain like this again.

In addition to what Mr. Wilson said, we are planning to run more tests on it. We have not yet sideloaded it, but plan to do that and a few other tests, including running it with SD540s.

[I_AM_Clayton]

Awesome! I love your music choice, I knew I wouldn't be the only person to use Knife Party music in a robotics video! I also love the design, I think I'm gonna look into this being one of my team's off-season projects for 2016!

[wilsonmw04]

Originally Posted by notmattlythgoe

One thing you could try is to put some delrin on either side of the modules and move the frame rails closer together to basically pinch the module between them. You'd then get horizontal support for the modules.

We have restrained the modules with retaining rings. This will be the third year we have used them without a failure (as long as they were installed properly). We did this get away from spacers. Might rethink this if it's a really defensive game.

[PayneTrain]

I like hitting stuff btw

[kyle_hamblett]

Looks really nice! Have you guys seen how well it can traverse obstacles like a scoring platform? I know it's unlikely that there will be an object EXACTLY like that, but it does look pretty close to the ground.

[Electronica1]

Originally Posted by kyle_hamblett

Looks really nice! Have you guys seen how well it can traverse obstacles like a scoring platform? I know it's unlikely that there will be an object EXACTLY like that, but it does look pretty close to the ground.

Yep, pretty sure at the moment the frame is low enough that you could place a penny in front of it and push it around. We are evaluating a few options for raising it up.

[Darkseer54]

Originally Posted by kyle_hamblett

Looks really nice! Have you guys seen how well it can traverse obstacles like a scoring platform? I know it's unlikely that there will be an object EXACTLY like that, but it does look pretty close to the ground.

Thanks for the idea! Just tried that out, and at speed it could make it over, but moving slowly it gets stuck every time. I got a video of it with colsons down, but it can do it with mecanums down (it just gets stuck much more often.) As Alex said, we are contemplating a few different ways to raise the clearance. I will edit in the video when I get home.

EDIT: Here is one test. Here is another. Both of these videos are with traction wheels down. I didn't get video of it going over with mecanums, but it works, just less consistently.

[Ari423]

Just wondering: what is the ground clearance on that thing? I'm designing my own octocanum modules and I'm having trouble getting the ground clearance I want. Looking at these videos, what I have may be good enough.

[Electronica1]

Originally Posted by Ari423

Just wondering: what is the ground clearance on that thing? I'm designing my own octocanum modules and I'm having trouble getting the ground clearance I want. Looking at these videos, what I have may be good enough.

That was actually one of the things we were testing with this set up. Right now, you can write anywhere on the bottom of the frame with sharpie and it will get wiped off. We are sitting at about .24 of an inch (this is at the rivet). We do know we need to raise it because usually game elements have supports under the carpet that raise the carpet about a 1/4 of an inch.

[Ari423]

Originally Posted by Electronica1

That was actually one of the things we were testing with this set up. Right now, you can write anywhere on the bottom of the frame with sharpie and it will get wiped off. We are sitting at about .24 of an inch (this is at the rivet). We do know we need to raise it because usually game elements have supports under the carpet that raise the carpet about a 1/4 of an inch.

So I'll try to design mine with a little bit higher ground clearance. Thanks for the heads up.