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#16
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Re: Swerve Drivetrain.
The revolution module that you linked is what is known as a coaxial swerve module, meaning that the motors are mounted vertically, parallel to the module's rotation axis. The wild swerve module contains the CIM motor, and gear reduction, within the swerve module itself. The primary advantage of coaxial modules is infinite rotation, as there are no electrical components within the modules. Wild swerve style modules are limited by the wires running to the motors, and must use sensors to limit their rotation. This limited rotation can also cause changing orientation to take more time than it might otherwise.
Non-coaxial modules, by nature, are independently powered, which can open up some flexibility in how the swerve is operated. For example, tank style turning will be much easier to accomplish in any orientation on a non-coaxial setup. Finally, here are some teams that have produced quality crab and swerve drives over the years. Look into some of their past robots, its a great way to learn! 16 (most years) 71 (most years) 111 (most years) 118 (most years, but not the past couple) 148 (2008) 1114 (2004) 1640 1717 |
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