pic: 3928 Swerve Module

[Akash Rastogi]

Originally Posted by Aren_Hill

In between the Colson and the CIM there are 12x r3 bearings (6 on each side) running on a 4140 HT steel sleeve that is over the CIM, some grooves in this sleeve retain the wheel laterally.

that sleeve is what i got to use a 2.5" drill bit on

For reference: https://www.facebook.com/photo.php?f...type=3&theater

[Jonathan Norris]

That swerve is all kinds of awesome. Great work 3928.

[THE DYNAMO]

This is the kind of thing that my math and spanish spirals are filled with! who needs education when you haave First?
i thought about this once, but rejected it as insane. props to you for making it happen

[Andrew Remmers]

This is amazing. That is all I have to say.

Sad thing is I just started thinking on how to improve on what I have seen recently in crabs and swerves.

I now have to think harder.

Challenge Accepted.

- Andrew

[JesseK]

How are the stress loads of robot movement transferred between the wheel and frame? What kinds of stress testing has this module undergone? Finally, is it possible for extreme heat from CIM abuse to transfer through the steel/aluminum and warp the plastic beaings over the course of a competition?

Am I the only one who really likes the tensioner that mounts directly to the rotatable CIM? The overall concept seems a bit high risk/reward to me, but the little things that make it more compact are the real genius of the design IMO.

I don't think they come any compacter than this. BUT, I want to see it run a whole season before I go out trying to replicate it. While it is small, how small is "too small"? Aside from this rare occasion when the OP says they need that tight of a space for a swerve, I don't see this being put into any real use unless they prove this season that it not only works great, but is advantageous to the user.

Nonetheless, I still want one.

[sdcantrell56]

Originally Posted by SuperNerd256

I don't think they come any compacter than this. BUT, I want to see it run a whole season before I go out trying to replicate it. While it is small, how small is "too small"? Aside from this rare occasion when the OP says they need that tight of a space for a swerve, I don't see this being put into any real use unless they prove this season that it not only works great, but is advantageous to the user.

Nonetheless, I still want one.

How does the smallness of a solution coorelate to the usefulness of it? When this whole competition is about how much function you can fit in a give size and weight constraint every bit counts. They are using the same axial bearing set up as 16, a team who has IMO perfected swerve drivetrains in FIRST. They are also using an axle for the wheel that is effectively 2.5" diameter. Much larger than the majority of teams. Additionally this isn't Arens first foray into swerve drivetrains.

[R3P0]

Originally Posted by Aren_Hill

loading photo ...

• CAD or it didn't happen
• That swerve drive is Robot pron!
  
  

[Fireball9199]

Originally Posted by R3P0

• CAD or it didn't happen
  

I am working on it.

[Aren_Hill]

Originally Posted by R3P0

• CAD or it didn't happen
• That swerve drive is Robot pron!
  
  

I've got CAD of somewhere around 5 earlier derivations of this concept, and this one, but I don't usually post it publicly.

[Brandon Holley]

Originally Posted by R3P0

• CAD or it didn't happen

CAD is not a birth right. While some teams graciously post their designs in various formats and states of completion, that is totally their own choice. By no means is anyone required to post their design.

-Brando

[Fireball9199]

Aren, Could I get the sizes of those gears/pullys?

[I LOVE ROBOTS!]

I must say, after a day of just staring at this, I think I'm in love. Aren, every design your involved in always amazes me

[MarkoRamius1086]

Team 3928,
All I really have to say on the subject, is this Module rivals all of the gearboxes and transmissions, on the subject of cool engineering. Between mechanical systems such as those from Pink, Cheesy Poofs, Simbotics, ect... this Insanity ranks high on my list of FIRST Cool.

I do find something this, radical, to be something of a physics mystery to me. When Midwest is over, I am sure all of us would be delighted to hear how these modules (is there an offical name for them?) held up to the rigors of competition! What compromises were made? What are the downsides and advantages? What worked with flying colors and what failed in the heat of the moment? Now of course a your Design Synopsis would be a grand feat amongst us all, and again, it is your choice to share what you want. For kids to have accomplished something so... FIRST... it is their glory and their pride to keep.

Hope to meet you at St. Louis!
Petrie

[Aren_Hill]

Originally Posted by Fireball9199

Aren, Could I get the sizes of those gears/pullys?

They're 3mm GT2 belts, 24T to 40T (and my favorite part of this entire module is the tensioner)

Then 20DP gears, one cut from SDP stock, the other lasered.
16T to 80T

for a total reduction of 8.3:1 (which after watching the first two weeks is a bit quick, but I don't have money to buy new pulleys and tweak it, darn)

Its a 5"x1.25" Colson wheel, and the steering is geared at ~100rpm from the BB395, haven't had any torque issues with that, the response is quite nice.