Strange Swerve 4.0 Triple Strange 1533

[dmpage318]

Originally Posted by Cothron Theiss

Just now noticed that it's a 1/4" bolt serving as the axle. That seems a little thin to me, but if it works, that'll be great.

You can't see it because of the spacers, but the bolt passes through a 1/2" aluminum tube.

[Brainiac33]

We have just finished assembling all four of the modules, and have them mounted to a base chassis. The final weight is 25.2 lb. for all four modules AND our base chassis. Just as a heads-up, we will be giving a presentation on swerve mechanics, design, and programing at the FIRST North Carolina FRC workshop at NCSSM on December 17th so join us if you can. In the meantime, here are some more pictures of our design!

[OccamzRazor]

This looks pretty compact and quite a bit easier to repair compared to what you had on the last robot. What was the overall weight of the last system minus the tank treads and whatnot?

What kind of power savings do you expect from the changes?

Can't wait to see this one at the workshop in Durham.

[Bennett548]

Have you had a chance to run this under load?

My concern is that the axial force of the bevel gears has to travel all the way thru the churro standoffs, thru the delrin bearings, and then up the plates holding the bearings. I would imagine the bevel gears will push away from each other quite a bit, which greatly reduces the efficiency and will wear down the gears much faster than normal.

I would suggest taking the plates that carry the horizontal bevel shaft bearing and extend them upwards, screw in a cross plate and put in a bearing that rides on the 3/8" hex shaft output of the versaplanetary. That way the axial force of the bevel gears won't push them apart very much.

Otherwise it is very cool. Put up some videos when you start driving!

[iyportne]

It's alive! Strange Swerve 4.0 made its first public appearance at the 2016 NC FRC Workshops.

https://youtu.be/VbXx9Hj13eI

Base as seen weighs in at 34.6 lb without battery.

[ToddF]

We've been looking for a swerve module buildable with our resources. Our swerve drive project has been on hold until we got access to a CNC machine. With this being waterjet cut, we finally have a viable path to building our own swerve modules. I think we've got our next summer development project. I can't wait to see how this holds up in competition.

[Brainiac33]

During our build process, we tried to stay as organized and precise as possible, we made these layouts at a 1:1 scale with the actual pieces just so we had layouts of all our parts.



Here is a google docs link to a much higher-res pdf if thats easier to download and use.

https://drive.google.com/open?id=0B4...3hrcTJWa1AyTlE

[Brainiac33]

In order to make swerve even more accessible for any team, we wanted to make our code public and available for anyone to use on their prototypes and designs. Here is the link to our github: https://github.com/ecgrobotics/Strange-Swerve