pic: Octocanum Module

[notmattlythgoe]

Originally Posted by GeeTwo

With omnis, I would agree with you. However, mecanums generate as much side force as forward/reverse force by design even when the robot is driving directly forward. With octanum, I'd consider the traction wheels as having less sideways loading under most conditions, probably only exceeding the peak mecanum side load when being T-boned. And in that case, the solution is to switch to mecanum and strafe your way out of the t-bone, or at worst into a legal pin that (under most years' rules) is time limited.

It's not the constant force of the mecanum or of a T-Bone. I'd be worried about that initial shock load when someone slams into your(2014) and you have pivoted the traction wheels down. You can only react so fast and you're not going to see every robot coming.

[Electronica1]

Originally Posted by notmattlythgoe

It's not the constant force of the mecanum or of a T-Bone. I'd be worried about that initial shock load when someone slams into your(2014) and you have pivoted the traction wheels down. You can only react so fast and you're not going to see every robot coming.

Honestly, we never had an issue with it. Heck, only time we had down time was when fasteners backed out into the frame (and yet we still won matches at an offseason just using it as a brake). In my experience, it is better to have the suspension on the traction wheels since then you don't loose contact with the ground when pushing, while having suspension doesn't fix a cg out of place. In addition to that, it seems that having the mecanum wheel on the end of the pivot is worse for survivability than a traction wheel that is only in use rarely. Plus, you should make the traction wheel as small as possible to cut down on weight by making the overall module smaller.

[GeeTwo]

Originally Posted by Electronica1

Plus, you should make the traction wheel as small as possible to cut down on weight by making the overall module smaller.

Smaller wheels would also have the side effect of making that moment arm shorter. Reducing the torque is probably even more important than weight savings.