pic: Summer Swerve Rev2

[TAlholm]

Originally Posted by asid61

Looks interesting. The lightening pattern and flanges on the caster box look quite strong. You may want to model the tread on the wheel to be sure it fits. A nice set of speeds, although a tad fast for the high gear. I bet you could swap a CIM pinion and fix that, but it's no biggie.
Is it possible to turn it into a 2-plate design rather than a 3-plate one? This would reduce size and weight. Is it possible to flip the CIM? That lowers center of mass quite a bit.
As it stands, you could probably move the turning gearbox one plate lower. The extra mounting points for the motors can be removed via Configurations, so I would use those and cull some weight that way too.
What is the weight?
Where are the encoders?

Currently, the turning gearbox is connected to a coupler that will allow quick swapping if necessary. We faced problems last year with difficulty switching the planetary gearboxes. I do have another configuration with a longer setup rather than the taller that uses only 2 plates. The weight is around 8.5 lbs.
Probably can't see it in the render, but right above the turning pulley is a casing that attaches the encoder to the shaft.
Just noticed the tread isn't shown, but it does fit without interference.