Quote:
Originally Posted by Landonh12
I think it would be better if you made it a full swerve drive instead of a crab drive. I'd split the CIMs up and use one per wheel so that you can independently drive each one. That would also drop your CIM count to 4 so that you can use CIMs in other places.
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Yeah I was thinking about that, but my main goal for this design was to create a drivetrain that had smooth, basic omnidirectional movement, yet can still travel as fast and defend as well as a tank drive. 6 CIMs provide exceptional power for that.
Quote:
Originally Posted by John Weissman
As a mentor for 1640, we have been doing swerve for 5+ years. If you look on our website team 1640 wiki, you can find out how we build our swerve drive, including programming, cad, and the math behind it.
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Awesome, Ill take a look. Thanks.
Quote:
Originally Posted by TheModMaster8
Thats a really nice design! slick and slim, if you are going to make another version and are looking for more info here's the one my brother made https://grabcad.com/library/swerve-d...or-frc-robot-1
he has since made a better,smaller, and lighter one. if you need or want any help just ask  |
Looks great, I wont hesitate to contact you!
Quote:
Originally Posted by Moskowapplepi
We have done swerve in the past but what are the 3 motors in the middle of each side for? We did individual modules rather than the entire drive train, in case you wanted to know why I asked
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Those are the motors driving each pair of wheels (There are supposed to be belts, its not shown).I did this to increase robot acceleration and pushing force. This drivetrain was oriented towards a 2014 like game, and I noticed that the one main drawback of the swerve designs of that year was robot speed and acceleration; they just couldn't keep up with many tank style drives, so in theory 6 CIMs should be a big upgrade to this.
Quote:
Originally Posted by marshall
This design looks awesome!
We experimented with a similar design earlier in the season but did not use it this year. The one thing we looked at carefully with this style of design was the strength of the cross members with the CIM motors requiring so much material to be removed. If you are building a drivetrain with 6 CIM motors then you are designing for defense and you can expect to take some hits so you need to design for that.
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Yeah, I did kind of laugh at the amount of lightening holes I put in. Ill be sure to do some FEA analysis of the frame later on.