Swerve Module 1CIM 1Speed 3.25in vex pro wheel

[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.