pic: 2015 Off-season Single Speed Coaxial Swerve Chassis

[s_forbes]

Looking at the other renderings you posted (here and here), I have to complement you on such a spiffy design. You guys sure do a good job of removing excess material.

What is the part number on the large bearing used for the pivoting axis of the module?

[GeeTwo]

Originally Posted by Sh1ine

... I am really impressed that the motors are stationary in this design. I feel ignorant, but what separates a swerve drive from a coaxial swerve? ...

That's the practical point of coaxial - the motor cases are stationary relative to the chassis. Coaxial swerve means that at some point, the steering bearings and the drive axle bearings have the same axis. The far more common configuration is similar to this, where the drive axle goes through the steering bearing.

Also, the wheels look to be 4" diameter, based on a 2.5" diameter CIM.

[asid61]

Originally Posted by GeeTwo

That's the practical point of coaxial - the motor cases are stationary relative to the chassis. Coaxial swerve means that at some point, the steering bearings and the drive axle bearings have the same axis. The far more common configuration is similar to this, where the drive axle goes through the steering bearing.

Also, the wheels look to be 4" diameter, based on a 2.5" diameter CIM.

To add to this, the purpose of going coaxial is usually to prevent wires from being tangled; in a non-coaxial swerve, the motor turns with the module, so a 360* turn would be a full twist of the wires.

[Chak]

Originally Posted by Kevin Ainsworth

To discuss configurations a little more. When designing the robot we can insert a Vex Versaplanetary gearbox into Solidworks and change it to any possible configuration. This is a tab that allows you to reconfigure an assembly automatically, once you've spent the time adding in all possible parts. You can hide ,surpress, change items in the assembly so that it "reconfigures" the assembly. We currently can change between single and double stage reduction. We can change between the Bag motor, RS550 and RS775 motors. We can change the output shaft options between the .375" hex, .500" hex, .500" round, and 8mm keyed CIM shaft. We can also change to a dual motor option. This all occurs with a click of a button on the same gearbox assembly. So there is no deleting and reinserting a new custom setup. There is no creating a custom assembly each time we need to insert a VersaPlaentary gearbox into the robot design. We should create a video sometime to show how to do this for the First community.

That's cool, I never thought about using configurations that way. I found configurations while exploring Solidworks, but I could never figure out how it could be useful. Would changing configurations change the weight on Solidworks too? Also, would you be able to reconfigure the gearbox after it's been mated to the robot?
+1 to sharing the file and/or a video making it.

[Chak]

Originally Posted by Kevin Ainsworth

To discuss configurations a little more. When designing the robot we can insert a Vex Versaplanetary gearbox into Solidworks and change it to any possible configuration. This is a tab that allows you to reconfigure an assembly automatically, once you've spent the time adding in all possible parts. You can hide ,surpress, change items in the assembly so that it "reconfigures" the assembly. We currently can change between single and double stage reduction. We can change between the Bag motor, RS550 and RS775 motors. We can change the output shaft options between the .375" hex, .500" hex, .500" round, and 8mm keyed CIM shaft. We can also change to a dual motor option. This all occurs with a click of a button on the same gearbox assembly. So there is no deleting and reinserting a new custom setup. There is no creating a custom assembly each time we need to insert a VersaPlaentary gearbox into the robot design. We should create a video sometime to show how to do this for the First community.

After reading this, I just had to try it for myself. Here are my results. It has the new Versaplanetary encoder stage, but I decided not to include the motor choices in my version. It made more sense for me to separate the motors, which are bought separately. I would still want to see how you guys did it, and compare it with my own methods. It'll be interesting to see how the "experts" did it compared to my googled knowledge.

[z_beeblebrox]

Originally Posted by Chak

After reading this, I just had to try it for myself. Here are my results. It has the new Versaplanetary encoder stage, but I decided not to include the motor choices in my version. It made more sense for me to separate the motors, which are bought separately. I would still want to see how you guys did it, and compare it with my own methods. It'll be interesting to see how the "experts" did it compared to my googled knowledge.

Nice work! Mind if I use this in my CAD library?