White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Thread created automatically to discuss a document in the White Papers.

SimSwerve Omnidirectional Drive System by Ian Mackenzie

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Here are the links to CAD models of the gearbox:

Pro/ENGINEER Student Version
STEP
ACIS (SAT)

If you want any other format, just let me know (reply or private message); Pro/ENGINEER can output to a few dozen formats, but I was limited to how many files I can fit on my engineering web space at any one time.

In case the four-digit team number worries you, this design won Leadership in Control in Pittsburgh, Delphi Driving Tomorrow's Technology in Long Island, and Xerox Creativity and Motorola Quality at the Canadian Regional :).

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

That four-digit number should only worry the teams who are sitting across from you on the playing field....

Don't forget, your design helped 1114 win the Pittsburgh Finalist Award, Long Island Regional Championship, Canadian Regional Finalist Award (some 48 team was dragging you down there), and the "prestigious" Canada's Wonderland Championship....

Great job on the design, Ian. I'll keep it handy in case we ever decide to revisit any designs more complex than a boring ol' set of wheels or tank treads....

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Ian,

Great job on the whitepaper. I remember the difficulties we were having at the beginning of the season, getting information on past strafing drive systems. This whitepaper will serve as a huge asset for teams attempting this endeavour in the future.

I'm definitely biased, but SimSwerve has to be one the coolest drive systems I've ever seen in all my time in FIRST. I hope everyone enjoys this report.

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Could you post JPG files of the gearbox models?

Thanks

Great paper by the way, I'll have to look at it more closely in the near future once I
have time, but after browsing it quickly, it looks very imformative.

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Certainly:

Exploded view
Exploded view (gearbox only)
Retracted
Extended
Overview

Also, an acknowledgement I forgot to make earlier - a huge thanks to Ed Sparks for creating and maintaining http://www.firstcadlibrary.com/, where I got the models for the two motors.

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Wow!
Are you planning on publishing this paper in a journal? It appears to be of that quality. I have just skimmed the paper myself and am wondering if any college or university engineering students worked on this project? I am also looking for opinions if attempting to build and design such a drive system would be a suitable upper level or graduate level research project. My background is as a HS science teacher. I am constantly on the prowl for ways and means to find authentic expereinces for area colleges to get involved with our team as mentors.

APS :)

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Yes - I'm currently in third year systems design engineering, Karthik (our team leader and head of strategy) is in fifth year math, and Julien Plourde (our programmer) is in third-year electrical engineering, all at the University of Waterloo. We all worked for GM as co-op students during the build and competition seasons.

I hadn't planned on publishing the paper (except to Chief Delphi, of course :)), but I suppose I'll see what the university thinks - they're currently marking the paper.

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

Ian,
Thanks for sharing!
It is always great to see teams passing down their knowledge!


John

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

[quote=Ian Mackenzie]Yes - I'm currently in third year systems design engineering, Karthik (our team leader and head of strategy) is in fifth year math, and Julien Plourde (our programmer) is in third-year electrical engineering, all at the University of Waterloo. We all worked for GM as co-op students during the build and competition seasons.

Question for you and other college students mentoring teams, Are you receiving university credits for your participation? Are you finding ways to use FIRST and team projects as class projects. The happenstance that the three of you are all GM co-op students makes me wonder if this is a GM thing instead of a university connection....

Thanks again, like I mentioned I am seeking ways for local universities and their students to get involved and support the teams in San Antonio, Texas.

APS :o

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

General Motors has always been a large supporter of the Co-op program at the University of Waterloo. This past season, Ian and I were hired specifically to lead the operation of Team 1114. Julien, our programmer was another co-op student who was working within the engine plant, who volunteered his time to the project.

It was a great setup, as it allowed Ian and I plenty of time to work with team, taking a huge weight of the shoulders of the other mentors. Also, it gave us valuable experience in the realm of project management, in a non-threatening environment.

Even though this was a GM project, it worked perfectly within the frame work of the co-op program at our university. Also, being on a work term, as opposed to a school semester allowed us to focus fully on FIRST, instead of having to keep an eye on our studies. I couldn't fathom dedicating the amount of time I did, if I was taking a full course load.

Re: White Paper Discuss: SimSwerve Omnidirectional Drive System
 

It's not THAT bad... really...

whiny voice:
If GM paid me, I bet I could do a swerve drive toooooo...
/whiny voice

Remember man,
Your friends at Clarkson U love ya, and your pretty little robot.
You and a few others (Joe, Raul... I'm looking in your direction) have forever tainted... err... I mean inspired my HS students to want a swerve drive.

JV