2 CIM Swerve Concept

[magnets]

Originally Posted by Nate Laverdure

Am I understanding correctly that both CIMs drive the small pulley? How will you extend the CIM shaft all the way through the rectangular tube? A shaft coupling?

Yes. The CIM underneath the smaller pulley has an 8mm shaft coupling that connects to the longer shaft that is connected to the little pulley on top of the box. There is a bearing on the top of the box.

The original design was for a 1 CIM swerve, and I haven't made up my mind as to which one is better. I posted the 2 CIM version because it looks cooler.

Originally Posted by BBray_t1296

With almost any wheel, you will run out of traction long before you run out of torque, especially with the wheels you show in the CAD

This is true, but this is geared to go pretty quickly, so there isn't really that much torque. JVN's design calc shows the top speed to be over 13 fps, and the free speed is over 16 fps. The wheel shown here could be swapped for another with a better tread. Also, if I reduce the number of motors to only three, JVN's calculator shows that I need to drop the max speed down to about 7 fps.