pic: Rosie Robotics first time doing Swerve

[Enigma's puzzle]

those look excellent, what i was trying to get my team to build but it isnt currently working.

Gearing them down does give you an advantage, because you will never reach a top speed of a high speed gearbox why do you need it? a slower one makes for higher torque at lower speeds, usually it is a trade off torque for speed, but if you can never get enough acceleration to go full speed trading off for speed is useless. You may not need the torque either but if it ever came down to it the torque would be needed before the speed.

[MrForbes]

Very nice! Are you sure this is the first time you've done it?

[Lil' Lavery]

Originally Posted by Enigma's puzzle

Gearing them down does give you an advantage, because you will never reach a top speed of a high speed gearbox why do you need it? a slower one makes for higher torque at lower speeds, usually it is a trade off torque for speed, but if you can never get enough acceleration to go full speed trading off for speed is useless. You may not need the torque either but if it ever came down to it the torque would be needed before the speed.

I understand what you're trying to say, but you need to think about that statement a little more.
The reason you're unable to accelerate is because you're unable to transmit torque (rotational force) effectively to the driving surface. Friction (specifically static friction) is the limiting factor in how much torque you can transmit. Having torque beyond that isn't going to help you much.

Applying more torque than your traction is going to cause slippage.

Those things are enormous! (and GORGEOUS!)

I'm curious, could you elaborate on some of your choices for doing this? Specifically, why mount the motor on the module?

[psyco_klown]

Well we were looking at trying to keep the weight centralized over the wheels. We also were thinking about suspension on the pods, it would be only 1/4 in travel anyways to absorb some of the vibration on the floor.

[Rosiebotboss]

Originally Posted by CraigHickman

Those things are enormous! (and GORGEOUS!)

I'm curious, could you elaborate on some of your choices for doing this? Specifically, why mount the motor on the module?

One other factor on why the CIM is mounted in the pod is for the traction control system our code guys have been working on, each wheel needs it's own motor and this was the easiest way to provide a full range of motion as well.