Introducing Revolution Pro...crab/swerve module

[JesseK]

1. It uses a small diameter solid treaded wheel. Design by Dillon et al, former teamate of Aren
2. The wheel is off set slightly to one side so it can be nested by the miter gear. [i]Not sure about this Winnovation either.
3. It utilizes straight cut gears instead of a chain to transfer power to the wheel. 118 talked heavily about this in 2009. At the time there were no cheap COTS gears when compared to direct-mounted sprockets. They recommend as much of a reduction AFTER the bevel gears as possible. However, see the link in #2.
4. It uses a dead axle to keep side plates light weight. I still have a teardrop plate that 118 handed out at 2009 Champs. It has a #10 hole for the axle because it was a 3/8" dead axle.
5. The wheel axle is a hallow stand off to increase the strength of the module and make replacing the wheel easy.See # 4

The platform in their video is the same way.
1. It uses a single extrusion upper frame. They aren't the first, I don't think you are either. So many teams did swerve in 2009 since the floor was extremely forgiving that many teams did this that year.
2. It's CIM motor is behind the steering motor, in an in-line configuration. Not an innovation
3. CIM chain runs around the steering shafts to get to the main double shaft. I dunno that they got inspiration from anyone so much as they realized it was a good idea from #2

Tough part is, swerve has been around a long time (2002 Thunderchickens?). The most popular/public teams over the years have been 16, 111 & 118. Nearly every design is a derivation of one of the two prior designs which are either coaxial or motor-on-module, and many designs go in similar directions simply because it's a good idea. If you applied the patent office's definitions for innovation, you'd be hard0pressed to find one that was non-obvious, or the next obvious logical iteration.