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View Full Version : pic: Team 691 Swerve Drive.... Again

Garret
09-09-2011, 15:54
[cdm-description=photo]37040[/cdm-description]
Frenchie461
09-09-2011, 15:55
Is that a banebot motor steering each wheel?
Chris is me
09-09-2011, 16:14
Kind of confused why you're steering all 4 wheels but then powering pairs of them. What decisions did you make that led to this layout? I'm certainly no expert.
Brandon Holley
09-09-2011, 16:23
Kind of confused why you're steering all 4 wheels but then powering pairs of them. What decisions did you make that led to this layout? I'm certainly no expert.

The only reason I can think of is that its a mechanical solution to a potential software issue. Meaning, the paired wheels will theoretically always be in a matching orientation and not have to be as closely monitored with software.

Just a guess.

-Brando
Garret
09-09-2011, 16:32
Is that a banebot motor steering each wheel?


Yeah, we designed this during the build season, and we were planning on using our densos and FP for the manipulator, so we used banebots for steering.

Kind of confused why you're steering all 4 wheels but then powering pairs of them. What decisions did you make that led to this layout? I'm certainly no expert.

Originally we planned to steer the wheels diagonally (as in the opposite corners steer together) but it was much easier to just steer them independently from a mechanical perspective (primarily because the chain was a lot shorter). The reason we have not switched to an independent drive motor/gearbox for each module is that the frame that we are using was designed for only the two gearboxes rather than 4. In a later iteration we will use 4 gearboxes very likely.
msimon785
09-09-2011, 19:41
Can you please post a rendering of just the modules? It looks really good. I really like the implementation of the vertical custom reduction gearboxes.
Starke
09-09-2011, 22:37
Can you please post a rendering of just the modules? It looks really good. I really like the implementation of the vertical custom reduction gearboxes.

Some of their modules can be seen on the FRC Designs website! Check out the link below!

Garret, if you would like to post this assembly as well, let me know!


http://frc-designs.com/html/drives.html (http://frc-designs.com/html/drives.html)