Re: pic: 1625's swerve module (better pic)
 

the bottom disc is simply supported by 4 tangential pieces of UMHW (ultra high molecular weight) plastic, that we keep white lithium grease on all the time to keep it slick. Rollers are more efficient but take longer to install and are heavier

Re: pic: 1625's swerve module (better pic)
 

With such an effective drivetrain, it's no wonder you guys went undefeated at Colorado. I love the way you guys keep the robot chassis facing forward through the match, but still have the swerve function to put you back into position. That's very innovative.
Keep up the hard work and military-like competing guys.

Re: pic: 1625's swerve module (better pic)
 

That module looks very simular to our initial idea, except we were putting the motor/transy inside the module itself.

It's very nice looking =D

Re: pic: 1625's swerve module (better pic)
 

That's what we did last year, we had a cim mounted vertically through a dewalt on each of the modules. This coaxial design made maintenance much easier (though it has gone through 3 regionals and hasn't broken once). Here is a pic of our underbelly, http://www.chiefdelphi.com/media/photos/28596. I guess we don't have a closeup of the module from last year.

Re: pic: 1625's swerve module (better pic)
 

This guy weighs in at 2lbs 14oz and i coulda taken a couple more ounces out of the steel sprockets. Lighter than last years

Re: pic: 1625's swerve module (better pic)
 

Have you thought about going to aluminum drive sprockets to save a touch more weight?

Is there a girl module? ;)

Re: pic: 1625's swerve module (better pic)
 

Hm, you should switch to Kevlar belting and aluminum pulleys. Then this setup would be truly frighteningly light. Out of curiosity, how many teeth does your steering sprocket have? I'm currently designing a bottom support crab, so I can finally post one that doesn't get hit with the "you're not supporting it right" complaint.

Re: pic: 1625's swerve module (better pic)
 

Yes i have but during the season i was too busy to find a supplier or someone to have them made.

Re: pic: 1625's swerve module (better pic)
 

Aren, do you have a white paper on this, or at least a picture of the other side of this assembly showing the bevel gears?

I got to see this up close at IRI, & was very impressed.
Not only did it perform great on the field, but it was relatively lightweight for what it consists of.

I'm trying to convince my teammates to experiment with as many drive trains as possible over the summer with our upcoming test chassis, & want to show them this one as a great example of swerve assembly.

Re: pic: 1625's swerve module (better pic)
 

I myself do not own a camera, and if i did wouldn't have time to take pictures.
The module structure (alum parts) is almost all waterjetted parts, then welded onto a 3x3x1/8th wall tube that had bearings holes CNC'd into it.

it will have some revisions for next year if we continue to do swerve, such as better bearing support at the top. (right now 1/2" bearings are taking the thrust load....). I'm considering copying 148's wheels so we dont have to worry about retreading and steering the wheels would be easier

Re: pic: 1625's swerve module (better pic)
 

418 has been doing them for years, exept we use 1"x1/4" stock to make spokes instead of using plate. then we speed hole them to make them even lighter.
here is a cad of them i don't have a good picture.