New AndyMark Products (Swerve & Steer module?)

[nathannfm]

Originally Posted by asid61

EDIT: I can't see in the cad how the smaller bevel gear is constrained axially. Is there a shaft collar I'm missing?
DOUBLEEDIT: Same goes for the large bevel gear. It appears to only be constrained by a single e-clip and the wheel. And the wheel is not constrained.

Pull the smaller one off the shaft, you will see it is constrained from moving up by a step in the shaft and down by the larger bevel gear. As for the larger one I am not sure, I see the e-clip in the middle of the drive shaft (somewhat concerning putting a stress riser there, I have seen 1/2 in drive shafts break due to e-clips), preventing it from moving in a direction it wouldn't want to move in due to the smaller bevel gear as for the other direction I see nothing, the wheel is floating unless the spacer is the wrong size, if it moved at all the screws would hit the side wall. http://screencloud.net/v/nEx

As Adam said, AM knows their stuff but it would be nice to know. Can't wait to see this in person, probably at the AM booth in STL if we don't use them this year

[asid61]

Hello, just an update on the mods I want to make on the Swerve And Steer:
I think it's possible to remove the middle plate. I'll post a pic of my plan soon, but it should involve only a single custom part- an encoder mount that holds on the front face of the cim (this can be printed). Oh, and two COTS parts that are like $20 combined.
Once I'm done, I'll post a pic of the before and after. Should shorten the module by 1.5" and shave off a ton of weight.

[richwong]

Originally Posted by Danny Blau

Hi CD
There is an encoder on the back of the 775 motor and there is also a mount for an absolute encoder on the main mount plate.

The robot's weight is carried by a bronze thrust washer, the lateral loads are carried by a large OD roller bearing.

Thanks
Danny

Is there a way to implement an encoder for the CIM output/wheel rotation?

[richwong]

Originally Posted by Danny Blau

Hi CD
There is an encoder on the back of the 775 motor and there is also a mount for an absolute encoder on the main mount plate.

The robot's weight is carried by a bronze thrust washer, the lateral loads are carried by a large OD roller bearing.

Thanks
Danny

What is the benefit of the absolute encoder? Other than the encoder, is anything else needed to interface the absolute encoder (e.g. a spur gear)?