pic: 3928 Swerve Module

[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.

I don't think they come any compacter than this. BUT, I want to see it run a whole season before I go out trying to replicate it. While it is small, how small is "too small"? Aside from this rare occasion when the OP says they need that tight of a space for a swerve, I don't see this being put into any real use unless they prove this season that it not only works great, but is advantageous to the user.

Nonetheless, I still want one.

[sdcantrell56]

Originally Posted by SuperNerd256

I don't think they come any compacter than this. BUT, I want to see it run a whole season before I go out trying to replicate it. While it is small, how small is "too small"? Aside from this rare occasion when the OP says they need that tight of a space for a swerve, I don't see this being put into any real use unless they prove this season that it not only works great, but is advantageous to the user.

Nonetheless, I still want one.

How does the smallness of a solution coorelate to the usefulness of it? When this whole competition is about how much function you can fit in a give size and weight constraint every bit counts. They are using the same axial bearing set up as 16, a team who has IMO perfected swerve drivetrains in FIRST. They are also using an axle for the wheel that is effectively 2.5" diameter. Much larger than the majority of teams. Additionally this isn't Arens first foray into swerve drivetrains.