pic: FRC 1086 Off-season teaser #1
 

Re: pic: FRC 1086 Off-season teaser #1
 

Very nice, looks like everything could be done without a mill or maybe even a lathe, correct?

Re: pic: FRC 1086 Off-season teaser #1
 

Looks good. Is that the only support plate, or will there be a second one beneath?

Re: pic: FRC 1086 Off-season teaser #1
 

I'm guessing not photography? :)

http://www.mcbride4.org/?attachment_id=207

Re: pic: FRC 1086 Off-season teaser #1
 

We actually did use a lathe, but we were able to avoid using a mill.

That is the only support plate. The module mounts nicely with the old style kop c channel.

Re: pic: FRC 1086 Off-season teaser #1
 

Can't see inside but, That hole looks like it is for accessing a set screw. The transfer axial should be designed so that the axle is constrained eliminating the need for a set screw. Racking. What is going to keep the lower module from becoming a parallelogram under high stress and load? Did you use thrust bearing for the miter gear loads or are you putting this on the ball bearings? What wheel is that? Allot of cantilevered load for that single mounting plate and those welds. How is this going to be driven? Is it a module or are you going to use a separate power pack? Only way to know what you got is to put it on a fully loaded robot frame and drive the hell out of it. See what wears. Igus bushing instead of bronze?

Re: pic: FRC 1086 Off-season teaser #1
 

There are internal support braces that will keep the lower part rigid. It is a module. 1 Cim 1 mini cam per module. Also it's worth noting that on the final version we will be using our own custom 2" performance wheel instead of the wheel you see there.

Re: pic: FRC 1086 Off-season teaser #1
 

It's also worth noting that the internal support is not visible in this picture because this version of our design hadn't incorporated them.

Re: pic: FRC 1086 Off-season teaser #1
 

2" Diameter? How concerned are you with the wear rate?
With Live axles I'd suggest taking a look at other solid rubber wheels, perhaps a Colson.

Re: pic: FRC 1086 Off-season teaser #1
 

We've considered colsons and used them before but our CAD team tells us that performance wheels are significantly cooler looking.

Re: pic: FRC 1086 Off-season teaser #1
 

Is this something we'll see at the Rumble in October?

Re: pic: FRC 1086 Off-season teaser #1
 

You mean 1 CIM to drive it and 1 Mini CIM to turn it?

Re: pic: FRC 1086 Off-season teaser #1
 

No, we were looking at how some teams were running 8 motors to drive their octocanums, so we thought it would be cool to give the same treatment to swerve. We use andymark motors to turn them.

Re: pic: FRC 1086 Off-season teaser #1
 

So a 12 motor drive.... Sounds like a lot of power draw....

Re: pic: FRC 1086 Off-season teaser #1
 

Looks like exactly what the off season is for. Make sure to post lots of puctures, and maybe a writeup when you're done? I really like the idea of a lower barrier of entry for swerve.

Good job, keep us updated!

Re: pic: FRC 1086 Off-season teaser #1
 

Very nice then. I assume you're going with an upside-down CIM due to the height of the welded spacer?

Re: pic: FRC 1086 Off-season teaser #1
 

That's the plan.

Re: pic: FRC 1086 Off-season teaser #1
 

Ah I see what you guys are doing.....Is that a REAL organizational bin for electrical? Good on you guys.

Re: pic: FRC 1086 Off-season teaser #1
 

Why, that IS a real electrical bin!

Re: pic: FRC 1086 Off-season teaser #1
 

If you don't just throw EOL electrical components under a table are you really trying?

Re: pic: FRC 1086 Off-season teaser #1
 

I never thought I would ever see this Black Project hit the web!

There is a fair amount of millwork and lathework involved to make this piece of artwork function properly. It is not a perfect design, if the students decide to pursue it for a competition robot they will have to make a couple small changes (lessons learned is where experience comes from). The really neat thing about this design is how compact the students were able to package the drivetrain portion of it. The wheel and the horizontal bevel gear have only ~1/16" of clearance, and you can't even hardly see the clearance between the vertical bevel gear and the chain/sprocket. I would hope they had planned it that way instead of winging it.

@Gdeaver, one question at a time. The set screw system was already machined into the bevel gears we ordered... a snap ring would not fit I believe. You would have to ask the actual designer to verify that.

Honestly, the side load thing is an issue, but I was going to wait for something to blow and let them figure it out. Most of them don't read Chief Delphi on a regular basis anyways so I should be safe! There are normal ball bearings under the washers, but the flanges are on the inside of the assembled housing. I am sure for a final the housing will have more support lower to prevent the force of an impact from creating a moment that would deform the housing to, yes, a parallelogram. That and a support shaft on the inside to prevent the inner race of the ball bearing from taking the brunt of a load that you would expect from Worlds or IRI.

I really am proud of the kids for cooking this prototype up and can't wait to see what the next revision (hopefully an untested REV2 isn't on the final robot...) will turn out like!

Regards,
Petrie

Re: pic: FRC 1086 Off-season teaser #1
 

Make sure to test under load. Ram it into some old robots. :)