pic: Light Weight Swerve Module

[Bryce2471]

Looks great. Are you going to use it on any of your robots?

To minimize the time commitment required to build swerves, our team built four swerves last year in the off season that then got reused on the practice bot for the competition season. This year, we are in a notable money crunch, so we've decided to do limited off season swerve building. Because of that, the odds of us putting this to use in the build season are minimal.

You can key in a custom weight for an individual part or assembly.

Great! I did't know that you could do that. I'll have to look it up.

How are you tensioning the belt? If it just slides along the track you have and is clamped by screws, I would defintiely change that to having something similar to 192's gearbox wehre you have seperate holes for each tension.

It has a single hole on one side, and a curved track on the other. I like this setup because it is adjustable enough to allow for different gear ratios without changing the belt.

Why banebots over versaplanetary? A BAG motor and that massive gear reduction will allow you to use a single-stage versaplanetary for the turning motor.

The bane bots is cheaper, smaller, and lighter. I couldn't find a configuration that would allow for a single stage planetary without being really large.

Wait, is that CIM held on by only two standoffs? That seems very insecure; add at least one more for strength..

There are three standoffs. I'll try to get the CAD up here pretty soon I suppose.

Where is the top plate? If it's not present, that should be okay, but testing this would be of high importance IMO.

I'm not sure what you mean by "top plate."

What would the clearance be for the CIM wires?

0.59"

Do you feel that the standoffs will hold-up on the potential forces acted on the assembly, especially if they're that long?

I'm pretty sure they will be fine. The forces on them are from holing up the CIM motor and encoders, and from the CIM torque.

Why is there a bushing on the swerve module without a supporting plate?

There isn't. I think you are referring to the 3D printed encoder gear.

how is the rotation gear held onto the bottom plate, just by the part where the CIM powers the wheel, or is it not in the CAD yet?

there is an integral trust bearing cut into the turning gear, and bottom plate. It's much like what team 16 has done in the past. Basically there is a track for a 0.25" ball bearing cut into the bottom of the plate and the top of the gear.

What is the calculated FPS? What is the estimated cost?

It's currently geared at 3.22 to 1 on a 2.75in wheel. So about 16fps, although it's easily changeable.

Thanks for all the great questions and comments, I hope my answers make sense.