pic: FRC KOP Chassis Butterfly Upgrade V1

[cj3958]

Nice Design and modification of an existing chassis. I like the idea a lot, but I have a few comments on this implementation:

What do you use for chain/belt tensioning? as far as I can see there is none yet, which will lead to problems.

Right now it looks like the Chain you use to go from wheel to omni wheel is larger than the diameter of the wheel. The sprocket is just under the wheel, so the chain will certainly be touching the carpet. This would be bad for several reasons, the least of which is it is currently illegal to have metal touching the carpet.

Finally I think the plates you use to attach the omni wheel to the standard wheel are too weak. There is almost nothing keeping the two plates from parallelogram-ing. You have defined them so they remain parallel, but when the feel large sideways loads they will move to be a parallelogram instead of a rectangle. This wouldn't be too much of a problem except for the fact that you have chain running through these, so if it parallelograms while you move, it is a recipe for the chain to jump.

These are just some thoughts I had after looking at the grabcad for five minutes, so it is very possible I am wrong. This is just my gut reaction after looking at the design.