pic: 3928 Swerve Module

[Fireball9199]

Aren, Could I get the sizes of those gears/pullys?

[I LOVE ROBOTS!]

I must say, after a day of just staring at this, I think I'm in love. Aren, every design your involved in always amazes me

[MarkoRamius1086]

Team 3928,
All I really have to say on the subject, is this Module rivals all of the gearboxes and transmissions, on the subject of cool engineering. Between mechanical systems such as those from Pink, Cheesy Poofs, Simbotics, ect... this Insanity ranks high on my list of FIRST Cool.

I do find something this, radical, to be something of a physics mystery to me. When Midwest is over, I am sure all of us would be delighted to hear how these modules (is there an offical name for them?) held up to the rigors of competition! What compromises were made? What are the downsides and advantages? What worked with flying colors and what failed in the heat of the moment? Now of course a your Design Synopsis would be a grand feat amongst us all, and again, it is your choice to share what you want. For kids to have accomplished something so... FIRST... it is their glory and their pride to keep.

Hope to meet you at St. Louis!
Petrie

[Aren_Hill]

Originally Posted by Fireball9199

Aren, Could I get the sizes of those gears/pullys?

They're 3mm GT2 belts, 24T to 40T (and my favorite part of this entire module is the tensioner)

Then 20DP gears, one cut from SDP stock, the other lasered.
16T to 80T

for a total reduction of 8.3:1 (which after watching the first two weeks is a bit quick, but I don't have money to buy new pulleys and tweak it, darn)

Its a 5"x1.25" Colson wheel, and the steering is geared at ~100rpm from the BB395, haven't had any torque issues with that, the response is quite nice.

[Alex698]

Unless I'm mistaken, (which happens a lot in FIRST --we learn this way right?) could you use a friction drive to the wheel and ditch the second reduction? I only thought of it because of the minibot gearing-up, gearing-down and final ratio power loss. Or would a friction drive could prove too unreliable in pushing matches?

[Aren_Hill]

Originally Posted by Alex698

Unless I'm mistaken, (which happens a lot in FIRST --we learn this way right?) could you use a friction drive to the wheel and ditch the second reduction? I only thought of it because of the minibot gearing-up, gearing-down and final ratio power loss. Or would a friction drive could prove too unreliable in pushing matches?

Friction drive worked on minibots because it was such a low torque application, you would need to provide substantial normal force and need a much harder tread material in order to transfer the CIM torque to the wheel through friction, essentially making everything really inefficient.

[ajlapp]

This a clever little module.

If I recall FRC 141 Wo-Bots did a CIM in the wheel swerve drive last season. It was based on a larger wheel, but it was equally awesome.

Of particular note was that their design used only timing belts and was nearly silent while moving...it was kind of ominous when you were near it on the practice field.

[nathannfm]

I don't often post on CD, but when I do it's on threads where the engineering genius blows my mind.

[Tytus Gerrish]

cool!

[PAR_WIG1350]

Originally Posted by ajlapp

This a clever little module.

If I recall FRC 141 Wo-Bots did a CIM in the wheel swerve drive last season. It was based on a larger wheel, but it was equally awesome.

Of particular note was that their design used only timing belts and was nearly silent while moving...it was kind of ominous when you were near it on the practice field.

Do you have pictures of that?

[Timz3082]

Originally Posted by PAR_WIG1350

Do you have pictures of that?

I also Saw this beautiful design, all anodized and powder coated, it turned me on, yes, I am attracted to good engineering, to bad I didn't get any good pics.
I wish 141 would post either their cad or a close up of the module.

[wo-bot 141]

i don't have a cad drawing or a picture of it, but i will try and get one for you guys to see.

[Timz3082]

Originally Posted by wo-bot 141

i don't have a cad drawing or a picture of it, but i will try and get one for you guys to see.

This would make me, and much of chiefdelphi, very happy!
That design was really a work of art! Too bad we weren't able to win that semi finals match with you guys last year, you are really a great team!

[Ty Tremblay]

Does anyone have video of this bot in action?

[Bill_B]

Originally Posted by Ty Tremblay

Does anyone have video of this bot in action?

Going to be rare due to GDC ruling about the robot's tactics. Keep looking. Swerves are fun to watch, even when only practicing. It's like being envious of Gene Kelly or Fred Astaire. Maybe I'd like to dance like that, but only two chances of that - very slim and none.

This is a match that has 3928 with a superstructure on top. It's mostly of the other alliance, but there is a coopertition bridge attempt at the end. Uncertain about the outcome 'cause they were still rockin' when the video cuts off.