pic: Small CIM in wheel swerve

[Bryce2471]

Originally Posted by asid61

4.6lbs per module? I think you've finally made a swerve that can be lighter than a WCD.
Much applause.

Thank you. This was mostly a design experiment for me, but I suppose it could be useful in a game like this year where a lot of weight is needed for the manipulators, and maneuverability is important, but pushing power is not.

Is the two-plate design lighter than just flipping the motor over and using a planetary gearbox?

i'm not sure about lighter, but I thought it would be a shame to put such a tall gearbox on such a short swerve module.

EDIT: Is that a custom gear on the bottom?

Yes. Several of the gears are custom so it would require access to a good laser, water jet, or wire EDM.

DOUBLEEDIT: Oh wait, MiniCIM. Dang, that was almost the dream.

Yep...
Maybe one day.

Originally Posted by cad321

Are you certain your materials are set correctly? A mini CIM weighs 2.16lbs according to VEX. If they are set correctly and that is in fact how light the module is, than I must say, very impressive.

Thank you, the mini CIM is accounted for, at 2.16 lbs. I'm pretty sure that the materials are correct, but like I said, there are some details that aren't in the CAD.