pic: Revolution Co-Axial Swerve Module - Team 221 LLC.

[ajlapp]

These units have not been tested, but I know from experience working and talking with frc118 that they have had module damage due to side loads. Some other designs have addressed this by using much larger cross-sections or creating the wheel saddle from billet....I'm not sure how I'll proceed with this design.

There is no chain tensioning feature designed in. A certain amount of sprocket wear is expected. There is plenty of sprocket wrap to deal with it in my opinion.

Robonauts used #25 chain this season for the final drive without a tensioner.

There is no price on these units. Initial estimates make these far to expensive to manufacture. Miter gears are quite expensive, as are the large turned components.

[Tom Line]

What supports the side loads on the horizontal shaft caused by the bevel gear?

You normally don't want to side-load axial bearings, so I've been scared of using e-clips on the ends of the shaft and having them pushing against the inner race of the axial bearings at each end.

[ajlapp]

The frc118 plan calls for thin walled bushings that hold the miter gear in location and push the thrust loads against the inner race of the bearing.

The prototype pictured has snap rings holding the miter gear in place. The same will be true for the drive sprocket, though they are currently not in place.