Quote:
Originally Posted by Bryce2471
I was wondering about that same thing. I've always been a fan of small wheels, especially when designing a swerve drive.
I have couple more questions too:
1. What's that pneumatic cylinder doing in your CAD render!? It really caught me off guard.
2. What is the experimental 3D printed part below your thrust bearing?
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As the wheels do not have encoders, this could have some issues with going straight for moderately long distances. I think that the pneumatic cylinder and the notches in the blue piece might be an experimental solution. I'm sure someone on the team can answer this more accurately.
After playing around with some math and CAD, I realized that smaller wheels mean smaller reductions, which either means that the intermediary shaft has to get closer to the CIM, or the sprocket on the wheel has to get bigger and closer to the ground. I think that a 24/60 gear reduction with a 16/40 chain run will fit, but just barely. (EDIT: 24/64 and 16/38 fits better). The smaller wheel also reduces the space for the thrust bearing, but I think I can get it, or a thinner solution, to fit. These issues might be fixable by a first stage belt like 192 has recently used, but I have no experience with these.