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pic: MOEnarch Swerve Drive
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Did you have any problems with the belt wrap?
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that gearbox has only slightly more than 90* of engagement but uses both thinner belt and smaller diameter pulleys. Given that, I would probably trust this arrangement. |
Re: pic: MOEnarch Swerve Drive
10 - 20 ft/s is a pretty big gap there, Nathan :P
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Re: pic: MOEnarch Swerve Drive
Sdp pi suggests at least 6 teeth engaged on a pulley for full use of the belt strength, it looks like have sufficient engagement for that belt pitch.
I like how they packaged both motors in the drive module, it looks good. |
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Is it a fair assumption that you will be using 8 CIM drive with this.
If so, how are you planning to keep from popping your main breaker? Are you using current monitoring to keep yourself in a safe zone? |
Re: pic: MOEnarch Swerve Drive
I would consider changing the location of your digital encoder for a couple reasons.
First, as you tension the belt by moving your cim, it will change the engagement on the Digital encoder. Secondly, generally speaking those things don't appreciate a lot of side-loading. Third, if your belt slips, your wheel will no longer be aligned with the encoder reading. I'd consider a small lightweight bracket that places it directly over the primary shaft of the module itself, so you'll always know the true position of the module. This also relieves any side-pressure on it, and it can be coupled with something as simple as surgical tubing. It will probably be a wash weight-wise. |
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We did consider a bracket like you describe but it was just another part to manufacture and would also put the encoder in a more vulnerable location. If there is some unforeseen mechanical problem with it's current location we may go this route. |
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We did not experience breaker issues while also running an intake motor & compressor. We also did not perform any type of current sensing. |
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Churros are not recommended drive axles, but they work well for a quick prototype. We did have enough black hex VEXpro shafts on hand at the time. |
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