I’m working on a iteration by iteration video, but its not done yet.
As you said, a heavy robot will sink into the foam and not drive,
and this concept will end up with > 50 lbs I suspect. I doubt I’ll get around to adding a ‘hanging’ feature, although I have a path to a ‘6" low hang’ in mind.
As far as axle support, thats a good point:
Iterations 1,2,3 used swerve-drive brackets, with one bearing and using the motor as the other bearing, as is my standard practice. It is easier to try adding additional bearings and I already have custom bearings in my todo list of “college custom plastic parts”. More bearings are easier than steps A or B.
Iteration 4 added a cantilevered wheel outside the bracket for a quick test.
I suppose using 8 swerve brackets for 8 wheels might help, unless I give up first.
Concept proto frame is made of 4 swerve brackets, 2 1x5x35 C channels, and 2 of the new base plates 1x1x15x35.
Adding additional bearing blocks seemed to have helped.
Adding a power expander to take one HS393 motor load off of the Cortex seemed to have helped a tiny bit.
The Series/Parallel HarborFreightDVM set up shows peak current at up to 9.5A, and demonstrates that the power-breakers are kicking in because the stall current drops to < 2A once it stops moving.
Adding a motor support bracket to non-cantilever the second pair of wheels should help more.
It also will make eventual conversion to 1/3rd speed gear drive easier, since the current swerve drive brackets do not have enough holes to mount the motor without cramping the exit wire. I’ll plan to put the 12t pinion in the clutch location.
Even limited success helps inspire me to the next step, (or maybe it was the movie “Cloudy with Chance of Meatballs”.)