Swerve Module Mounting Bearing

[Nathan Streeter]

I am pursuing designing a new coaxial swerve/crab/swivel drive train for my team. If possible, could those who have designed and used similar swerve modules please leave your feedback? I know Craig Hickman has designed several coaxial swerve modules, which seem to use similar mounting types. Also, I know the 118 swerve modules use similar bearings, so I'd particularly appreciate hearing from these two groups; however, many others have similar designs/insights!

Two pictures are attached in the zip folder. Fyi, the two semi-transparent plates are made of 3/16" thick aluminum, but I temporarily made them semi-transparent for the sake of the picture.

All elements are made of aluminum, except for the two pale blue/gray rings, which are Silverthin Bearings (part no. SAA15XLO, http://www.silverthin.com/4saa.htm). The tall central hub would be bolted onto the roof of the pod. The two semi-transparent plates would be bolted around two aluminum box rails. The two bearings would be pressed into these plates. The ring with the holes in its perimeter at the top of the hub would be screwed onto the hub, and removed during installation.

To install, the two bearings would be pressed onto their respective plates, the bottom plate would be slid down the hub from above, bearing-side down; the upper plate would be slid down the hub from above, bearing-side up. After these have been slid on, the upper ring would slide down from above, and be fastened with 4 #10 bolts that are tapped into the hub.

The idea is that the upper plate/bearing takes the majority of the weight of the robot under normal functioning, the lower plate/bearing prevents the pod from sliding out from under the robot when it's lifted, and they together share the radial and moment loads. Obviously, that's a simplified explanation of the loads...

I have never been quite clear on how other teams support pods that are only supported from above... Is this similar to others' designs? Would this be able to handle the radial, thrust, and moment loads? To me, this seems functional; however, I have little experience with swerve modules. Thank you!

Nathan