pic: 3928 Swerve Module

[runneals]

Kudos to our awesome team of swerve mod builders! Got to hold it the other day and it's pretty cool what they came up with... Weather or not we'll stick with the same design this year is to be seen.

[NXTGeek]

Wow. What a CIM placement!

[Joe.Quirk]

How do connect the steering gear to the mounting plate? I assume there is some thin bearing in between, but how did you retain it vertically? This is for sure one of the coolest things I've ever seen.

[brian.axelrod]

What bearings did you use around the CIMs? Are they roller bearings or ball bearings? Also, do you have a sleeve around the CIM, or are the bearings riding on the CIM?

[Aren_Hill]

Originally Posted by Joe.Quirk

How do connect the steering gear to the mounting plate? I assume there is some thin bearing in between, but how did you retain it vertically? This is for sure one of the coolest things I've ever seen.

Between the steering gear and the mounting plate there are two .25" diameter semi circle grooves (one in each plate) with .25" diameter delrin balls running in them, essentially forming a "deep groove" thrust bearing that can also handle axial load. (This was borrowed from team 16 who has perfected this bearing and graciously answered all of my questions regarding it)

The bearing is then kept from coming apart by a set of white delrin sliders that go up over the mounting plate from the steering gear and retain it.

Originally Posted by brian.axelrod

What bearings did you use around the CIMs? Are they roller bearings or ball bearings? Also, do you have a sleeve around the CIM, or are the bearings riding on the CIM?

Around the CIM exists a ~.090" thick 4340 alloy steel sleeve (we went pretty hard as it was round 1 of this bearing concept). Riding on the sleeve are 12 r3 ball bearings (6 on each side) each riding on a 10-32 bolt.
The bearings also have a groove in the steel sleeve that is deeper than the outer race of the bearing providing an thrust surface to retain the wheel in the middle of the module.