pic: GBX-127, bevel-beside-wheel swerve drive

[Kevin Leonard]

Why is it geared so fast? 17 fps for a swerve seems like it would be way faster than you'd want in most games.

[asid61]

Originally Posted by Kevin Leonard

Why is it geared so fast? 17 fps for a swerve seems like it would be way faster than you'd want in most games.

I ran it through a drivetrain calculator, and I found that 17.6fpsish is the best time-to-distance for 2ft, which is perfect for getting around opponents. 17.7 is a little fast, especially given inconsistencies which the model doesn't catch, but it's easy to change the design depending on the game.
That's free speed, not adjusted; it should be between 14-15 adjusted.

[AdamHeard]

Is this designed to be made with resources available to your team?

If so, does it use so many resources that it takes away from other systems?

[asid61]

Originally Posted by AdamHeard

Is this designed to be made with resources available to your team?

If so, does it use so many resources that it takes away from other systems?

Yes, the method of waterjetting + milling is one that was specifically tailored to our needs; materjetting is cheap, and using the DRO on the Bridgeport makes the tolerances for bores and holes spacings above what you can get with a waterjet. GBX-130 requires even less machining due to the use of a Banebots gearbox in place of a custom turning gearbox, and would be used if the ETA on our manipulator prototypes was very short.

Of course it takes away resources from other systems; a WCD would take a little less work than this particular model. A KOP chassis takes less work too. Hovever, due to various things within our team using a swerve drive is advantageous, even irrelevant of the game.