pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

[Bryce2471]

Originally Posted by glennword

How did you do the serpentine calculations? Gates IQ?

No, I just did an approximation with the center of the belt backing. It does't need to be perfect. If the belt length was off by up to a half inch in either direction the tensioner would adjust.

Originally Posted by asid61

Looks good. Why do you have two encoders? Is one for rotation?
Is the shifting shaft custom or vex?
What pitch is the belt?
Also, out of curiosity: is the gear running on a bearing or is it just bolted to the wheel? I designed mine with a bearing in the gear for safety, but is it necessary?
Is the wheel running on bearings or just on an aluminum hollow axle?

Yes, one measures wheel orientation, and the other measures travel speed.

It's vex, but it's shortened on both ends.

HTD 5mm

I doubt that a bearing in the gear is necessary. With a dead axle that's well
supported, bearings on either side of the wheel, and a gear that's close to the wheel, you shouldn't have any trouble just bolting the gear to the wheel.

The drive wheel is running on two ball bearings on an aluminum hallow axle.