Swerve Drive CAD

[Jared]

Originally Posted by stinglikeabee

Can you show an exploded view or side view of the bearing assembly that supports the wheel? I'm having a hard time visualizing the assembly and how it all goes together. It would help if you also included the part numbers (McMaster) for the bearings.

Are the three mounting bolts threaded with a spacer tube in between the two 1/4" plates to keep the height level across them?

How does this mount to a chassis?

Overall, it looks like you had a good project this summer!

There are three bearings which support the wheel holder. There is a 1" diameter tube that is welded to the top of the wheel holder.
On the top plate, there is a bronze bushing (colored brown), which is mcmaster part number 2934T26.

On the bottom plate, there is another bearing (mcmaster 6384k373).

On the top of the wheel holder there is a thrust bearing that has an ID bigger than the tube that come out the top. It sits in a groove cut into the top of the module. It is mcmaster part number 6655k250.

There were a couple things I forgot to make visible before I took the screenshot, including the spacers on the 1/4-20's and the hex shaft for the 56t gear.

I'll add an exploded view when I'm at my computer with Inventor.

[Bryce2471]

This is a cool setup. As far as your bearing system is concerned. I think it is more than strong enough. I also designed and built a swerve drive system this summer. It had two plastic sleeve bearings, and a 50 thousandths thick steel washer on top of the caster box. This option saves money and weight, and is more than strong enough.

Some suggestions: plan for multiple frame and mounting options. Include any encoders that you plan on using in your design. If possible Plan on your chains stretching, and put tensioning mechanisms in the design.

[Jared]

I'm not ever going to use this design, so I don't have to worry about the chains stretching. Also, all the chains are exact center to center and are pretty short, so I think I should be fine.

As for mounting, I would probably just make the three bolts that hold the two plates together longer and use these.