Quote:
Originally Posted by asid61
Looks good. Where are the encoders going to be?
I would have gone with a little less lightening on the frame, but JMO. Are you sure you can't get a little more spread out of there? I know Vex offers a 34t and a 44t ball shifter gear.
Also, you might consider making the bevel gear shaft in the part of the module with the wheel be 3/8" hex on one side, and 8mm keyed on the other. That way you can accomodate 11t or 12t gears. Or you can use 14t gears there.
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Thanks. The encoders are included in the CAD model already, but they are hard to see from this angle. I'll post another view so that it is more obvious.
If my team used this design, the frame of the module would be well supported. Because the module's frame is only 3" wide at it's widest, its job is much easier than for most swerve module designs.
I probably could get more spread out of the shifting shaft, but a four CIM swerve drive is never meant to be a pushing machine. In this case the low gear would be for acceleration, precise movement, rolling off of defenders, and playing effective defense.
I would really like to avoid using key ways as much as possible. I will look into using different gears in the lower caster though.