3 wheel swerve [Archive]

ENIAC

14-03-2012, 02:17

is there a reason that you never see 3 wheel swerve? It seems like it would free up a CIM for whatever shooter/actuator etc you might use. Or just save weight.

Tom Line

14-03-2012, 02:19

Team 16, the bomb squad, is well known for doing 3 wheel swerve.

Mark Sheridan

14-03-2012, 02:20

team 67 did one also in 2005
http://www.chiefdelphi.com/media/photos/21751

ENIAC

14-03-2012, 02:21

Team 16, the bomb squad, is well known for doing 3 wheel swerve.

Hmm. I guess I just never saw them.

Is there a reason it is not as common?

Aren_Hill

14-03-2012, 02:21

is there a reason that you never see 3 wheel swerve? It seems like it would free up a CIM for whatever shooter/actuator etc you might use. Or just save weight.

Mostly its for stability reasons, I know bomb squad is enjoying the recent switch to 4wd swerve, in 2010 they looked like they were going really fast because it rolled around every corner, it was fun to watch.

Lil' Lavery

14-03-2012, 03:07

team 67 did one also in 2005
http://www.chiefdelphi.com/media/photos/21751

Didn't only one of those wheels rotate? Or am I forgetting my FRC history?

EricH

14-03-2012, 03:10

Didn't only one of those wheels rotate? Or am I forgetting my FRC history?
I think you're forgetting. The back two started like 71's in '02, to allow the robot to slide down the goal, IIRC.

Lil' Lavery

14-03-2012, 03:54

I think you're forgetting. The back two started like 71's in '02, to allow the robot to slide down the goal, IIRC.

By rotate I mean "swerve." What you're describing is unrelated.

EricH

14-03-2012, 04:04

By rotate I mean "swerve." What you're describing is unrelated.
I did say that I think you were forgetting. The back wheels started in a given configuration, then rotated to allow a full swerve--similar to 16's 2008 robot. I also recall there being CD-Media pictures of the robot showing the swerviness, but not clearly.

Billfred

14-03-2012, 07:31

I'm surprised the discussion has gotten this far without mentioning Tumbleweed (http://chiefdelphi.com/media/photos/30612), 148's Championship-winning 2008 robot (and patron saint of robots without much of an active manipulator).

thefro526

14-03-2012, 07:36

I did say that I think you were forgetting. The back wheels started in a given configuration, then rotated to allow a full swerve--similar to 16's 2008 robot. I also recall there being CD-Media pictures of the robot showing the swerviness, but not clearly.

Here's a picture showing the three modules: http://www.chiefdelphi.com/media/photos/20540

From what I can remember, the drive had multiple modes, from full swerve to a forklift-like drive that could be changed on the fly.