Swerve Module 1CIM 1Speed 3.25in vex pro wheel

[asid61]

Whoops, I forgot to change the wheel diameter in the calculator. 14fps is plenty. You could still go faster, but you don't really need to then.
Good choice on the versaplanetary if those ar eyour reasons. You would indded have to get a keyway into a regular pulley if you went banebots. What kind of manufacturing resources does your team have?
The AM9015 is a relatively high power motor. If you want the lower speed, go for it, but buy an extra set of pulleys and belts to test out if you can.
Again, see if you can flip the cim. If will greatly lower your COG.

[jman4747]

Rev 2

Total weight per module is less than 8.4lbs.

Now with gears (24t:42t) connecting pivot motor/gearbox to pivot module. Pivot motor/gearbox is mounted next to the CIM and upside down. This all saves weight, part count, and space inside frame perimeter. Edit: this gets the motor leads away from the floor and removes the belt as a failure point.

Lower polycarbonate mount plate is pocketed for weight.

Pivot side plates are chamfered at the bottom and smaller on the sides.

Wheel uses 1/4in bolt as dead axial.

CIM motor is connected to a AMT103-V encoder in a fashion inspired by that posted by Twins Inc. of 2605 earlier in November (http://www.chiefdelphi.com/media/photos/40928). This will save weight and space, as well as cost in our situation.

Module is now also 100% symmetrical (no left or right versions).

Thank you to asid for the suggetions.

[asid61]

Originally Posted by jman4747

Rev 2

Total weight per module is less than 8.4lbs.

Now with gears (24t:42t) connecting pivot motor/gearbox to pivot module. Pivot motor/gearbox is mounted next to the CIM and upside down. This all saves weight, part count, and space inside frame perimeter. Edit: this gets the motor leads away from the floor and removes the belt as a failure point.

Lower polycarbonate mount plate is pocketed for weight.

Pivot side plates are chamfered at the bottom and smaller on the sides.

Wheel uses 1/4in bolt as dead axial.

CIM motor is connected to a AMT103-V encoder in a fashion inspired by that posted by Twins Inc. of 2605 earlier in November (http://www.chiefdelphi.com/media/photos/40928). This will save weight and space, as well as cost in our situation.

Module is now also 100% symmetrical (no left or right versions).

Thank you to asid for the suggetions.

8.4lbs is much better. I love that encoder mount BTW, as it's really good for a lot of gearbox scenarios.
I don't like how the center of mass moved up, but with the mounting you are doing it's not like it will affect your perfermance much.