pic: Coaxial Swerve Drive Module with 2-speed Ball Drive and Nitrile Tread

[nathannfm]

Originally Posted by asid61

I have a couple of application questions:

While I had nothing to do with this (awesome) design I think I can take a few of these.

Originally Posted by asid61

1. Why did you not flip the cim? It look like you have the room to do so. Flipping it and adding a belt drive to the first stage of the gearbox would add half a pound or so, but would alloy you to add another cim or a minicim to the drivetrain if you wished.

To me it actually doesn't look like there is room to flip it without increasing the bellypan footprint, which may have been a greater design concern than COG or expandability for them.

Originally Posted by asid61

2. Why the small banebots motors over something powerful like the RS-775 18v?

There is simply no need for such a powerful motor in this application, 1640 has been using the even less powerfull RS-540s in this application for years with no problem. Personally I would use the AM-0912 (which has power between a 540 and 550) because you can use 4 of them and that frees you up to use any of the BB motors on the rest of your robot for things that may require the power of an RS-775

Originally Posted by asid61

3. Why did you choost to have a seperate pair of gears for the absolute encoder instead of simply having an encoder on the versaplanetary output?

Not sure on this one, it certainly looks like there is enough room for an idler encoder gear down there https://imgur.com/IwbQ4JL maybe mounting issues, gonna have to wait for the OP on this one.

Originally Posted by asid61

4. Tons and tons of machined parts (the most notable to me being the miter gears). What do you expect the turnaround time to be for these?

I would have actually said most notably literally everything else lol, the miter gears can be purchased from VexPro but there are certainly some other complicated parts on here.

Originally Posted by asid61

5. How are you planning on fixing anything if a module breaks? It seems very compact and complex and hard to repair. I hope that you can use this this year and improve this further next year.

I know most teams make at least 1 spare module (if not 4) that way they simply swap the entire module out if anything happens to a competition module. The problem module can then be repaired at home under controlled conditions


Now I have a few questions:

Why the hollow drive axle?

According to the CAD the shifter gears are steel but reference aluminium VexPro gears, what's up with that?

Amazing looking drive, great work, I hope I get to check it out in person at champs!