Re: pic: 4143 offseason motor in wheel swerve
 

The herringbone gears are 3d printed in gray plastic. Very hard to machine, very easy to print. You see them a lot on 3d printer extruder designs.

Our pyramid climber had so much chain we kind swore off chains. The memories of hunting for fallen master link clips is fading slowly.

Re: pic: 4143 offseason motor in wheel swerve
 

https://www.youtube.com/watch?v=kjJiNckLoww

First movements of a new swerve drive are usually not pretty. This one wasn't too bad.

It weighs in at 52lbs right now, with control system, without battery. A proper battery tray and bumper mounts might take it to 55lbs. It is a little heavy, but we used a lot of bearings. I'm not sure this design will ever see competition, but it was fun to make.

The video has a real good view of the steering system.

Re: pic: 4143 offseason motor in wheel swerve
 

Looking good!
Why not competition? Too much machining?

Re: pic: 4143 offseason motor in wheel swerve
 

Yes, we made this prototype because I wanted to see if we could make internal gears. Having made it, I'm not sure there are that many advantages over simpler designs. Perhaps I'll change my mind after we test it more.

BTW the gears were made with old Fellows shaper cutters found on ebay. It's possible the cutters are older than I am.

Re: pic: 4143 offseason motor in wheel swerve
 

We're releasing the native Creo models and drawings. Included in them are mostly parametric involute gear designs. They have been pretty useful for 3d printing gears.