pic: Light Weight Swerve Module

[asid61]

Originally Posted by Bryce2471

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.

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

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.

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.

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

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

0.59"

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.

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

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.

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.

That tensioning method could be unreliable. Testing would be paramount, and easier would be to have discrete mounting holes for each tensoning distance.
By "top plate" I mean an upper support. Right now, the only thing keeping the module in place is the weight of the robot. You need to have some kind of way to secure the module from above as well, either by means of a plate on top of the module or by using some kind of loose clamp on the bottom plate.
As for gearboxes, I see what you mean. I'm cadding one like this but shifting right now, and the banebots is considerably lighter than the versaplanetary. However, I hear that they can be unreliable.