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Unread 13-11-2014, 23:59
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pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

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Unread 14-11-2014, 00:00
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

How did you do the serpentine calculations? Gates IQ?
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Unread 14-11-2014, 01:28
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Looks good. Why do you have two encoders? Is one for rotation?
Is the shifting shaft custom or vex?
What pitch is the belt?
Also, out of curiosity: is the gear running on a bearing or is it just bolted to the wheel? I designed mine with a bearing in the gear for safety, but is it necessary?
Is the wheel running on bearings or just on an aluminum hollow axle?

Last edited by asid61 : 14-11-2014 at 01:51.
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Unread 14-11-2014, 02:20
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

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Originally Posted by glennword View Post
How did you do the serpentine calculations? Gates IQ?
No, I just did an approximation with the center of the belt backing. It does't need to be perfect. If the belt length was off by up to a half inch in either direction the tensioner would adjust.
Quote:
Originally Posted by asid61 View Post
Looks good. Why do you have two encoders? Is one for rotation?
Is the shifting shaft custom or vex?
What pitch is the belt?
Also, out of curiosity: is the gear running on a bearing or is it just bolted to the wheel? I designed mine with a bearing in the gear for safety, but is it necessary?
Is the wheel running on bearings or just on an aluminum hollow axle?
Yes, one measures wheel orientation, and the other measures travel speed.

It's vex, but it's shortened on both ends.

HTD 5mm

I doubt that a bearing in the gear is necessary. With a dead axle that's well
supported, bearings on either side of the wheel, and a gear that's close to the wheel, you shouldn't have any trouble just bolting the gear to the wheel.

The drive wheel is running on two ball bearings on an aluminum hallow axle.
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Unread 14-11-2014, 03:16
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

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Originally Posted by Bryce2471 View Post
I doubt that a bearing in the gear is necessary. With a dead axle that's well
supported, bearings on either side of the wheel, and a gear that's close to the wheel, you shouldn't have any trouble just bolting the gear to the wheel.

The drive wheel is running on two ball bearings on an aluminum hallow axle.
Can you put one bearing in the gear and one in the opposite side of the wheel? You still get the support that way, as well as alignment. And you still only use two bearings.
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Unread 14-11-2014, 07:57
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Nice Job!
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Unread 14-11-2014, 12:28
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

really amazing. Now all you need is to be allowed eight CIMS on the bot. and a refrigerated main breaker.
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Unread 14-11-2014, 13:51
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by asid61 View Post
Can you put one bearing in the gear and one in the opposite side of the wheel? You still get the support that way, as well as alignment. And you still only use two bearings.
you could do that, although it's not the optimal solution in my mind because the bolts would be loaded in shear by the weight of the robot.
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Nice Job!
Thank you!
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Originally Posted by hrench View Post
really amazing. Now all you need is to be allowed eight CIMS on the bot. and a refrigerated main breaker.
this accually only uses 1 CIM and 1 mini CIM. The breaker would most likely be okay, assuming that auto-shifting code was used.
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Unread 14-11-2014, 22:04
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by Bryce2471 View Post
you could do that, although it's not the optimal solution in my mind because the bolts would be loaded in shear by the weight of the robot.

Thank you!

this accually only uses 1 CIM and 1 mini CIM. The breaker would most likely be okay, assuming that auto-shifting code was used.
Good to consider.
What miter gears are in there? Are they the vex ones?
And I assume those pulleys are aluminum... just a random thought.

Last edited by asid61 : 14-11-2014 at 22:09.
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Unread 14-11-2014, 23:26
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by asid61 View Post
Good to consider.
What miter gears are in there? Are they the vex ones?
And I assume those pulleys are aluminum... just a random thought.
They are 20 tooth 20 pitch steel gears from SDP/SI.
Yes they are aluminum pulleys from B&B man.
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Unread 15-11-2014, 00:04
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by Bryce2471 View Post
They are 20 tooth 20 pitch steel gears from SDP/SI.
Yes they are aluminum pulleys from B&B man.
Ok, good. It just seemed like they would be heavy for this design due to their solidity.
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Unread 15-11-2014, 16:43
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by asid61 View Post
Ok, good. It just seemed like they would be heavy for this design due to their solidity.
What are you referring to as being solid? Are you talking about the aluminum pulleys or the steel miter gears?

Also, what roller bearing did you use as an idler? I just put a solid steel stand-in to fill the space.
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Last edited by Bryce2471 : 15-11-2014 at 16:58. Reason: forgot something
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Unread 15-11-2014, 22:12
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by Bryce2471 View Post
What are you referring to as being solid? Are you talking about the aluminum pulleys or the steel miter gears?

Also, what roller bearing did you use as an idler? I just put a solid steel stand-in to fill the space.
The pulley is solid aluminum, unlightened. The miter gears I would highly recommend against shorening the hub (widening the bore it fine) due to the strange geometry making it hard to machine.

For the bearing, I used these:
http://www.bocabearings.com/bearing-...2-SR1634ZZ3PS2
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Unread 16-11-2014, 01:09
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

Quote:
Originally Posted by asid61 View Post
Thanks for the resource! I've never used them.
Although, I was wondering about the bearing that you used to tension the lower belt, not the 0.75" bearing for the shifter. lol
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Unread 16-11-2014, 05:00
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Re: pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

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Originally Posted by Bryce2471 View Post
Thanks for the resource! I've never used them.
Although, I was wondering about the bearing that you used to tension the lower belt, not the 0.75" bearing for the shifter. lol
Oh. For the lower belt, I just used a steel sleeve around a slightly longer aluminum sleeve. The aluminum sleeve had a 10-32 screw go through and clamp to the top plate. Then the steel sleeve was still free spinning, but constrained in place.
You could just use a 1/4" or 5/16" aluminum sleeve and use a 1/4" or 5/16" bearing from McMaster or Boca Bearings. I know 192 used Boca last year for their gearbox gears, but personally I haven't used them.
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