24-06-2013, 16:43
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no bag, vex only, final destination
AKA: Pinecone
 FRC #0228 (GUS Robotics); FRC #2170 (Titanium Tomahawks) Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2006
Location: Glastonbury, CT
Posts: 7,661
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Re: pic: Ball Shifter Swerve 1
Quote:
Originally Posted by magnets
I got the idea after seeing pictures of a robot using those modules. However, the steering system is a mix between what the robonauts did in 07, and what 1640 does now. Also, this version has a mistake, as I took the picture between versions. In the picture, it has a live axle, but the sprocket is bolted to the wheel, and the wheel has bearings. It should not have a bearing on the side plates of the module, and it should be set up for a dead axle configuration instead.
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That's a good change - a structural dead axle (e.g. a tapped standoff) adds some rigidity to the module, right where you want it to be rigid.
How is this module being supported? The bearing setup for that is obscured by the frame rails. This portion is what makes or breaks a lot of swerve drives.
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