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

[asid61]

Originally Posted by pwnageNick

I meant what is the encoder itself mounted to, not how is it connected to the shaft.

A bent piece of polycarbonate.

Originally Posted by R.C.

Is your Ma3 1:1 in relation to the steering portion of the module? It looks that its part of the first stage of the rs gearing.

Edit:

1. If your pressing the bevel gear into the wheel, why not put bearings into the wheel and make the assembly dead vs live? It would make the bottom of your module way more rigid. Also much easier to do wheel swaps, we were able to do wheel swaps in under 10 seconds on our modules this year.

2. I would recommend milling the side of your forks and adding a bearing to support the smaller bevel gear.

That's an error on my part. It should be an S4 incremental encoder, but I'm used to putting in an MA3 and forgot.

I tried 3/8" and 5/16" bearings on a dead axle, and basically I either had to use a 1/4"-20 axle, which is possible but not something I've had experience with, use a very weak bearing, or bore out the bevel gear hub more than I'm comfortable with. If a 1/4"-20 would work as an axle, then I would switch to that plus an 8mm OD spacer as a dead axle. 8mm because I would already be ordering 8mm/16mmm bearings for this.

I would add a bearing on the forks, but it would basically be a teeny tiny bearing with at most a 1/4" outer diameter. The thrust bearing cantilevers the bevel gear a lot more than I would like, but I couldn't find a thrust bearing thinner than the one I'm using right now.

Originally Posted by Jared

Looks pretty cool - if you're worried about the cantilevered bevel gear, I'd look at the AndyMark swerve module. They cantilever their bevel gear too, and I haven't heard of any issues with their setup.

Where do you plan on getting the bevel gears from?

The Andymark Swerve & Steer, as well as most coaxial swerve drives, all cantilever their bevel gear. But to handle thrust loads they sometimes just use thrust washers, and none of them cantilever the bearing out as much as I do. I think I'll change to a thrust washer instead of a thrust roller bearing.