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Originally Posted by Bryce2471
My observation was more based on the large amount of optimizations that appear in my posted designs. Not on completely brand new ideas that have never been seen before.
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You pointed out that your designs were disturbingly similar, implying that the Revolution swerve module had somehow copied yours.
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1. It uses a small diameter solid treaded wheel.
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Excluding 2009, show me a swerve drive that does not use a wheel with a tread. Teams have been using small wheels since 2008 (
http://www.chiefdelphi.com/forums/sh...ad.php?t=64824)
Here's a team using a 3" wheel:
http://www.chiefdelphi.com/media/photos/38289
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2. The wheel is off set slightly to one side so it can be nested by the miter gear.
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See 148 in 2008. The wheel is off center in that design.
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3. It utilizes straight cut gears instead of a chain to transfer power to the wheel.
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See 148 again.
Or this one:
http://www.chiefdelphi.com/media/photos/37005
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4. It uses a dead axle to keep side plates light weight.
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See this design:
http://www.chiefdelphi.com/media/photos/34443
Or any 118 robot since 2005.
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5. The wheel axle is a hallow stand off to increase the strength of the module and make replacing the wheel easy.
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See the old revolution swerve design.
Also, this drawing shows that their wheel axle isn't hollow. (
http://www.team221.com/upload/445-Revolution_Pro.pdf)
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1. It uses a single extrusion upper frame.
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221 Robotic Systems has used this frame before you have.
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2. It's CIM motor is behind the steering motor, in an in-line configuration.
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Where else would you put the steering motor?
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3. CIM chain runs around the steering shafts to get to the main double shaft.
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118 has done this in 2007.
Excluding
this and Aren Hill's in wheel CIM swerve, most swerve designs are very similar, or fall into a few categories.