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Re: pic: Crab/Swerve module using gears instead of belt /chain
The frame CAD posted is interesting. There is one large problem with that approach: Everything is essentially supported from one side, so loads will try to bend the chassis tube and flange plate (which should be fine as 6061, BTW).
I highly suggest you add inboard tubes or an alternate support system for the crab pods. While you'll probably be fine with the gearboxes as they are, the crab pod support plates will bend (or the tubes they are attached to will) under load.
I like the VersaWheels, but we do replace them every other competition, so design in a way to remove them for replacing them (you don't replace the tread, you replace the whole wheel). No experience with the non-Versawheels from Vex.
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Kettering University - Computer Engineering
Kettering Motorsports
Williams International - Commercial Engines - Controls and Accessories
FRC 33 - The Killer Bees - 2009-2012 Student, 2013-2014 Advisor
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"Sometimes, the elegant implementation is a function. Not a method. Not a class. Not a framework. Just a function." ~ John Carmack
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