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Unread 14-03-2007, 08:08
Unsung FIRST Hero
Al Skierkiewicz Al Skierkiewicz is offline
Broadcast Eng/Chief Robot Inspector
AKA: Big Al WFFA 2005
FRC #0111 (WildStang)
Team Role: Engineer
 
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Rookie Year: 1996
Location: Wheeling, IL
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Re: Swerve Module Question

Adlai,
You are very close to good design. We have found that a combination of things works. We use a bronze sleeve bearing with a thrust plate built in for the top. Added to that is a Delrin circle that surrounds a circular plate at the bottom of the module. This bottom plate is mounted on the bottom of the module and is designed to match the bottom of the chassis. This way the top and bottom of the module is secured by bearing points. The bottom bearing goes a long way to keeping the bottom of the module aligned (so that there is no misalignment in the top bearing producing friction) and prevents the module from moving during driving and collisions. By locking the bottom, you prevent the wheels from getting up on edge (less friction) and you allow the steering linkage(at the top of the module) to maintain a reasonable amount of tension for better control.
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Good Luck All. Learn something new, everyday!
Al
WB9UVJ
www.wildstang.org
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Storming the Tower since 1996.