pic: Butterfly Drive Concept

[Chak]

Originally Posted by RoboticDaymon

The modules should be able to be installed as a complete assembly. They were designed to be put together outside the robot then slide into place. The only parts that might need to be assembled while on the robot are the pneumatics and the drive axles directly off the gearbox.

Are you direct driving one of the wheels straight off the gearbox? If so, you might want to consider how hard it would be to slide the module onto the drive axle. You can't completely assemble the module separately if the gearbox output shaft is required to hold the module together. the direct driven wheel and everything floating in the module would have to line up perfectly to slide the module on. That's really annoying, especially if you're using hex. BTW, I'm assuming these things because it's a COTS gearbox.

My team had a similar design for our octocanum modules this year, and I regret not considering assembly when we designed it. I always chose to assemble half the module on the robot instead of frustratingly trying to lining up all 5 hex components.