pic: 3928 Swerve Module

[Katie_UPS]

I wish our students were around to answer your questions and explain all the work they did, but unfortunately most of them are way on a band trip.

Originally Posted by DampRobot

Wow, this looks amazing! I like the belt tensioning system. A few quick questions:
Also, I know Aren_Hill famously said that a swerve drive should be built on the offseason and then given a year to sit before putting it on a competition robot. (I'm sorry, I can't find the quote right now.) What lead you to decide that a swerve was needed to be competitive, despite the fact your rookie team had never done one?

Our students have played around with a swerve in the off-season, so they knew more about one than most rookie teams. We were fortunate enough to get a set of incredibly bright kids who are capable of such feats after only having a few months of experience.

Originally Posted by Taylor

What is the weight of the assembled module as shown?
How do the modules attach to the chassis?
What is the maximum allowable horizontal rotation, and how do you keep the CIM motor wires safe and secure?
I'm having trouble envisioning the other side of the module. Do you have a pic handy that shows the "back"?

-About six pounds
- If you look, you'll see a plate above the turning gear. We attached that to our bellypan.
- If I'm not mistaken, the plan was for about 360 degrees with a bit of overlap (so that there isn't a dead spot) (Aren might swoop in and correct me on this one).

Originally Posted by Akash Rastogi

What's cool is that Aren's students were the ones who really wanted to pull off the swerve. We knew Aren was crazy before he even proposed the design, but now there's a whole team of crazies! Glad it's finally out in public. I hope people finally understand the Aren Hill drillbit meme on Facebook haha.

We at least talked them down from swerve AND a turret.

[Ether]

Originally Posted by Katie_UPS

If I'm not mistaken, the plan was for about 360 degrees with a bit of overlap

If it is indeed 360 degrees, it would most interesting to see how they route and/or suspend the CIM power lines.

Also, I don't see a steering angle sensor. Is it hiding in plain sight?

[Aren_Hill]

Originally Posted by Ether

If it is indeed 360 degrees, it would most interesting to see how they route and/or suspend the CIM power lines.

Also, I don't see a steering angle sensor. Is it hiding somewhere?

The CIM wires are ran up the polycarb in the picture then have some inline spade connectors (for if they go haywire) attaching them to the wires stuck on the encoder mount that is above the module.

The steering encoder (ma3 from usdigital) is mounted above the center of the module on the polycarb hoop into a 3d printed adapter, the body of it is held on another lexan bracket that reaches from the side of the frame over the top of the module.

[jblay]

A CIM as a bearing, just a beautiful and awesome idea and design.

Please tell me you're going to mass-produce this and sell them! This is probably the best/smallest swerve out there! Any videos?

[MattC9]

So what goes in between the CIM and the colson? And did the colson come with that big of a bore or did you have to bore it out you're self's?

[Aren_Hill]

Originally Posted by MattC9

So what goes in between the CIM and the colson? And did the colson come with that big of a bore or did you have to bore it out you're self's?

In between the Colson and the CIM there are 12x r3 bearings (6 on each side) running on a 4140 HT steel sleeve that is over the CIM, some grooves in this sleeve retain the wheel laterally.

that sleeve is what i got to use a 2.5" drill bit on

here are more pictures:
http://www.chiefdelphi.com/media/photos/37675?
http://www.chiefdelphi.com/media/photos/37674
http://www.chiefdelphi.com/media/photos/37673

[Akash Rastogi]

Originally Posted by Aren_Hill

In between the Colson and the CIM there are 12x r3 bearings (6 on each side) running on a 4140 HT steel sleeve that is over the CIM, some grooves in this sleeve retain the wheel laterally.

that sleeve is what i got to use a 2.5" drill bit on

For reference: https://www.facebook.com/photo.php?f...type=3&theater

[Jonathan Norris]

That swerve is all kinds of awesome. Great work 3928.

[THE DYNAMO]

This is the kind of thing that my math and spanish spirals are filled with! who needs education when you haave First?
i thought about this once, but rejected it as insane. props to you for making it happen

[Andrew Remmers]

This is amazing. That is all I have to say.

Sad thing is I just started thinking on how to improve on what I have seen recently in crabs and swerves.

I now have to think harder.

Challenge Accepted.

- Andrew

[JesseK]

How are the stress loads of robot movement transferred between the wheel and frame? What kinds of stress testing has this module undergone? Finally, is it possible for extreme heat from CIM abuse to transfer through the steel/aluminum and warp the plastic beaings over the course of a competition?

Am I the only one who really likes the tensioner that mounts directly to the rotatable CIM? The overall concept seems a bit high risk/reward to me, but the little things that make it more compact are the real genius of the design IMO.