pic: All Terrain Swerve 1

Originally Posted by artdutra04

No it won't. This robot should have an excellent time turning, and I don't see any problems with it as is. In fact, with some sophisticated code it can be even more agile than a traditional swerve drive in it's ability to do complex curves and arcs without any side scrub.

Actually, if the motor couldn't even spin the tread (which it wouldn't, those things have practically no tourqe) then being able to do those complex curves wouldn't really matter. I was referring to the motor choice to spin the actual module, not the over robot turning ability.

[Alex.Norton]

I don't see how those motors don't have much torque. The CIM's have more than enough power for the drive on a 40-60 pound bot and the fisher price through a 256 reduction should have like 60 ftlbs. of torque which should be more than enough.

In any case the robot should be moving when turning the modules which will significantly reduce the turning force

[David Guzman]

Originally Posted by 114ManualLabor

(which it wouldn't, those things have practically no tourqe)

I think you need to work out your numbers again. The motors have quite a bit of torque. We used them to pivot our arm, which takes more torque than turning those modules. The only problem I do see with this motors is overheating, but thats a different story. In the end we changed them for globes but only because of the overheating problem. They had sufficient of torque.

[kibbs425]

If your really looking at doing this you may want to see about putting all of your gears in an enclosed gearbox with an output shaft that chain drives the wheel pulleys. This will help keep the gears clean and running better, i.e. not wearing down teeth because of grit contaminant. Also look at getting sealed bearings, with REALLY good seals. Girt contaminants can easily destroy any rotating part.