Originally Posted by Sh1ine (Post 1510877)

... I am really impressed that the motors are stationary in this design. I feel ignorant, but what separates a swerve drive from a coaxial swerve? ...

Originally Posted by GeeTwo (Post 1510981)

That's the practical point of coaxial - the motor cases are stationary relative to the chassis. Coaxial swerve means that at some point, the steering bearings and the drive axle bearings have the same axis. The far more common configuration is similar to this, where the drive axle goes through the steering bearing.

Also, the wheels look to be 4" diameter, based on a 2.5" diameter CIM.

Originally Posted by Kevin Ainsworth (Post 1510851)

To discuss configurations a little more. When designing the robot we can insert a Vex Versaplanetary gearbox into Solidworks and change it to any possible configuration. This is a tab that allows you to reconfigure an assembly automatically, once you've spent the time adding in all possible parts. You can hide ,surpress, change items in the assembly so that it "reconfigures" the assembly. We currently can change between single and double stage reduction. We can change between the Bag motor, RS550 and RS775 motors. We can change the output shaft options between the .375" hex, .500" hex, .500" round, and 8mm keyed CIM shaft. We can also change to a dual motor option. This all occurs with a click of a button on the same gearbox assembly. So there is no deleting and reinserting a new custom setup. There is no creating a custom assembly each time we need to insert a VersaPlaentary gearbox into the robot design. We should create a video sometime to show how to do this for the First community.

Originally Posted by Kevin Ainsworth (Post 1510851)

To discuss configurations a little more. When designing the robot we can insert a Vex Versaplanetary gearbox into Solidworks and change it to any possible configuration. This is a tab that allows you to reconfigure an assembly automatically, once you've spent the time adding in all possible parts. You can hide ,surpress, change items in the assembly so that it "reconfigures" the assembly. We currently can change between single and double stage reduction. We can change between the Bag motor, RS550 and RS775 motors. We can change the output shaft options between the .375" hex, .500" hex, .500" round, and 8mm keyed CIM shaft. We can also change to a dual motor option. This all occurs with a click of a button on the same gearbox assembly. So there is no deleting and reinserting a new custom setup. There is no creating a custom assembly each time we need to insert a VersaPlaentary gearbox into the robot design. We should create a video sometime to show how to do this for the First community.

Originally Posted by Chak (Post 1512370)

After reading this, I just had to try it for myself. Here are my results. It has the new Versaplanetary encoder stage, but I decided not to include the motor choices in my version. It made more sense for me to separate the motors, which are bought separately. I would still want to see how you guys did it, and compare it with my own methods. It'll be interesting to see how the "experts" did it compared to my googled knowledge.