pic: OmniSwerve Pivot Top View

[Cothron Theiss]

Originally Posted by Scott Kozutsky

The design assumed use of a CNC router so that would be used to do the pockets (multiple passes, depth of cut isn't that great but its certainly doable). I also made sure not to pocket it all the way through so there is 1/16 of material left on the bottom which should adequately handle the torsional shear between the hex and the teeth. The diameter of material surrounding the hex is .8 which should be ok as there will be relatively less stress acting on it (3.25in omni wheels can only transmit so much torque compared to 4 in nitrile for example). 7 spokes is a byproduct of our team name, not the best engineering solution but we'd probably keep it anyways.

Have you run any simulation or FEA to confirm that this gear won't fail? Also, have you designated a material for the gears? (I apologize if you've already listed he material and I just missed it.)