Re: pic: 3928 Swerve Module
 

Unless I'm mistaken, (which happens a lot in FIRST --we learn this way right?) could you use a friction drive to the wheel and ditch the second reduction? I only thought of it because of the minibot gearing-up, gearing-down and final ratio power loss. Or would a friction drive could prove too unreliable in pushing matches?

Re: pic: 3928 Swerve Module
 

Friction drive worked on minibots because it was such a low torque application, you would need to provide substantial normal force and need a much harder tread material in order to transfer the CIM torque to the wheel through friction, essentially making everything really inefficient.

Re: pic: 3928 Swerve Module
 

This a clever little module.

If I recall FRC 141 Wo-Bots did a CIM in the wheel swerve drive last season. It was based on a larger wheel, but it was equally awesome.

Of particular note was that their design used only timing belts and was nearly silent while moving...it was kind of ominous when you were near it on the practice field. :D

Re: pic: 3928 Swerve Module
 

I don't often post on CD, but when I do it's on threads where the engineering genius blows my mind. :eek:

Re: pic: 3928 Swerve Module
 

cool!

Re: pic: 3928 Swerve Module
 

Do you have pictures of that?

Re: pic: 3928 Swerve Module
 

I also Saw this beautiful design, all anodized and powder coated, it turned me on, yes, I am attracted to good engineering, to bad I didn't get any good pics.
I wish 141 would post either their cad or a close up of the module.

Re: pic: 3928 Swerve Module
 

i don't have a cad drawing or a picture of it, but i will try and get one for you guys to see.

Re: pic: 3928 Swerve Module
 

This would make me, and much of chiefdelphi, very happy!
That design was really a work of art! Too bad we weren't able to win that semi finals match with you guys last year, you are really a great team!

Re: pic: 3928 Swerve Module
 

Does anyone have video of this bot in action?

Re: pic: 3928 Swerve Module
 

Going to be rare due to GDC ruling about the robot's tactics. Keep looking. Swerves are fun to watch, even when only practicing. It's like being envious of Gene Kelly or Fred Astaire. Maybe I'd like to dance like that, but only two chances of that - very slim and none.

This is a match that has 3928 with a superstructure on top. It's mostly of the other alliance, but there is a coopertition bridge attempt at the end. Uncertain about the outcome 'cause they were still rockin' when the video cuts off.

Re: pic: 3928 Swerve Module
 

Its not at competition, but here is video of the swerve in our shop.

http://www.youtube.com/watch?v=bgRVg...ature=youtu.be

Re: pic: 3928 Swerve Module
 

:ahh: Now I'm even more impressed. That looks like a drivetrain that is well built, and can easily beat any 6 wheel drive, without even using the regular swerve mode.

Re: pic: 3928 Swerve Module
 

Very, very slick. An awesome piece of engineering!

Re: pic: 3928 Swerve Module
 

I just posted video of FRC Team 3928 Neutrino first match EVER!
You can see their swerve in action.

http://www.youtube.com/watch?v=Yx0zv4H21MQ

And Match 16 is here:

http://www.youtube.com/watch?v=xiytvLHfR3c

To the Neutrinos:
I have several of your matches in HD video.
Someone can contact me or Carrie and I can eMail them to you.