Team 312: HeatWave multispeed swerve drive

[Stephen Kowski]

Well I am happy to finally post this link to a document on Heatwave's website about their 2006 3 speed shift on the fly swerve drive. Feel free to come by the pit and get a closer look at UCF and at the Champioship (more pictures to follow later in the week). If you have any questions post up here and I will do my best to answer them.

http://www.heatwave312.com/swervedrive.aspx

Enjoy

[George1902]

I don't know what's more shocking: the sheer beauty of that drive module, or Heat Wave releasing pics of their robot. ^^

I'm impressed. I can't wait to see it in person tomorrow.

[Drew Hopman]

Looks Sweet! Cant wait to see it in action!

[Stephen Kowski]

Originally Posted by George1902

Heat Wave releasing pics of their robot.

I think it is that one....it was was easier to build the swerve drive

[Dan Petrovic]

How many drive modules to you have and how much do they weigh? I can't imagine a two speed swerve drive being very light.

[Conor Ryan]

Wow!! multi-speed swerve drive, it's never been done before and it looks great, I have plans for a similar system but it never got around to being built. Just designing it was difficult, machineing it would be a whole new story. Great job, I hope it gives you guys great results.

[Veselin Kolev]

Oh thats hot. Very nicely used Dewalt too, looks just about as compact as it could get. My only concern is the weight, but hey, its worth it. Make a three speed swerve, or not worry about weight, I would totally go for three speed swerve.

However, what would still impress me a lot is seeing a two speed dog shifting swerve with four modules. It can be done quite easily too. One just has to do it. Ehhh yea I can blab on about how I designed one, but I didnt exactly make it now did I? Oh well, I've done other swerve drives so I'll live. Maybe I'll leave it as a summer project, finally make my two speed swerve. Then it could like, shove other robots WHILE dodging right past them. Spiffy, I must say.

But back on track... a possible idea for next year if anyone wants to make something like this, ever thought about having the CIM and dewalt vertical, and using bevel gears to go to the wheel? That way the drives are just really tall, but rather small turning radius. Just an idea.

[Stephen Kowski]

Originally Posted by InfernoX14

How many drive modules to you have and how much do they weigh? I can't imagine a two speed swerve drive being very light.

if i remember correctly each module weighs in at about 10lbs (9.4 if i remember exactly)...and that is with with everything, to include the CIM, IFI wheel, and the transmission with the shifting servo. btw, it is 3 speed

We did plan on using the bevel gears and stand our transmissions up vertically, but if I remember correctly RogerR said he calculated that the module will just spin before the wheels were able to break traction in a pushing match so we would just have the modules just spinning as we got pushed. I do not know with different gearing whether it would work or not, but the one we had design and almost made would have reacted that way according to him.

http://www.flickr.com/photos/jskowski/91416006/ - 9.4 yeah

I will show you it is not in a standard 4 module configuration on thursday when I post a full drive train picture, like George said:

Originally Posted by George1902

I don't know what's more shocking: the sheer beauty of that drive module, or Heat Wave releasing pics of their robot.

so you will see tomorrow once it is out of the box and everyone can see at UCF that is not standard, and the teacher sponsor won't kill me (from what I was told he approved this)

[Ianworld]

I must say that looks absolutely fantastic. Truly a work of art. I guess its fair to mention that 9.4 pounds is pretty heavy. For a set of 4 in the standard rectangle configuration you're going to be at just under 40 pounds for the drive. That doesn't even include the chassis and the swerve portion of the set up. It looks pretty tough to lighten up as is. You're already using tiny chain for the first power transfer. Frankly though there isn't much you can do to make a better drive system. This is basically the pinnacle of FIRST drive trains, power, speed maneuverability. Incredible.

[Alekat]

Are you using the encoder to auto-shift?

[RogerR]

wow...where to start...

Originally Posted by Veselin Kolev

...However, what would still impress me a lot is seeing a two speed dog shifting swerve with four modules. It can be done quite easily too. One just has to do it. Ehhh yea I can blab on about how I designed one, but I didnt exactly make it now did I? Oh well, I've done other swerve drives so I'll live. Maybe I'll leave it as a summer project, finally make my two speed swerve. Then it could like, shove other robots WHILE dodging right past them. Spiffy, I must say.

But back on track... a possible idea for next year if anyone wants to make something like this, ever thought about having the CIM and dewalt vertical, and using bevel gears to go to the wheel? That way the drives are just really tall, but rather small turning radius. Just an idea.

we decided to go with 3 modules rather than 4 because with three, we could independantly drive and steer each module, without taking up a massive amount of motors. we felt that more than 6-7 motors would limit us when designing the end effect. in the original version, as steve stated, there were bevel gears and the dewalts were mounted externally, but i was worried about the drive motors interfering with the rotation of the module, so we ditched that idea pretty quick. the design you see on the feild is actually revision 6 of the 'TRIumph' drivetrain. we expect to make major improvements in the coming years.

Originally Posted by Ianworld

...For a set of 4 in the standard rectangle configuration you're going to be at just under 40 pounds for the drive...

actually, we're only using 3 modules, for reasons stated above. the rectangular frame gives us more mounting space, and has skids at the corners to help keep us from tipping when we change directions at high speeds. though i still think the triangular frame looked cooler.

Originally Posted by Alekat

Are you using the encoder to auto-shift?

actually, there currently used for our auto mode, but that sounds like a real cool idea. sounds like something for the programmers to do tommorrow.

...and now the quote that makes it all worthwhile...

Originally Posted by Ianworld

...This is basically the pinnacle of FIRST drive trains, power, speed maneuverability. Incredible.

yeah...here on heatwave, we were sick and tired of compromises: "speed or torque", "traction or maneuverability", etc.; bump that, we want it all. all we had to compromise was simplicity.