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Unread 09-06-2018, 01:56 PM
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Looking for Swerve Module to Prototype

Hey CD,

I have some AWESOME access to resources now that im on a college campus and I am looking to prototype a swerve module. I have access to CNC plasma cutters, waterjets, mills, and a really nice trumpf laser cutter.

I havent really joined the "$werve" CAD bandwagon but I'm really interested in fabricating a module that could be used in future applications and introduce myself into the swerve realm.

Without including metal or electronics costs im looking for a tested module design that costs less then $300 and is not extremely complex to machine.

If anyone is willing and able to post/ PM CAD files and photos of previously fabricated and tested modules that would be amazing. I'm really not looking to prototype anything new but rather than just build and work with a module that has worked well in the past and can be easily worked with zero swerve knowledge.

Thanks!
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Last edited by messer5740 : 09-06-2018 at 05:02 PM.
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Unread 09-06-2018, 02:18 PM
Andrew Duerner Andrew Duerner is offline
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Re: Looking for Swerve Module to Prototype

Quote:
Originally Posted by messer5740 View Post
Hey CD,

I have some AWESOME access to resources now that im on a college campus and I am looking to prototype a swerve module. I have access to CNC plasma cutters, waterjets, mills, and a really nice trumpf laser cutter.

I havent really joined the "$werve" CAD bandwagon but I'm really interested in fabricating a module that could be used in future applications and introduce myself into the swerve realm.

Without including metal or electronics costs im looking for a tested module design that costs less then $200 and is not extremely complex to machine.

If anyone is willing and able to post/ PM CAD files and photos of previously fabricated and tested modules that would be amazing. I'm really not looking to prototype anything new but rather than just build and work with a module that has worked well in the past and can be easily worked with zero swerve knowledge.

Thanks!
Hi Matt,

We built a software development swerve platform with 2 modules. The modules used as many COTS parts as possible. If you already have some common FIRST parts this might be a pretty cheap way to go. All the CAD, BOM, fabrication drawings, and code are at the following link.

https://www.armabot.com/collections/.../simple-swerve

Hope this helps!
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Unread 09-06-2018, 02:46 PM
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asid61 asid61 is offline
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Re: Looking for Swerve Module to Prototype

Quote:
Originally Posted by Andrew Duerner View Post
Hi Matt,

We built a software development swerve platform with 2 modules. The modules used as many COTS parts as possible. If you already have some common FIRST parts this might be a pretty cheap way to go. All the CAD, BOM, fabrication drawings, and code are at the following link.

https://www.armabot.com/collections/.../simple-swerve

Hope this helps!
It looks like the price sums to about $750 per module. Even taking out the Versaplanetaries, Talon, encoders, and gear kits, I'm seeing $338 per module.
Maybe finding an old Revolution Pro or Wild Swerve module could be better.
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Unread 09-06-2018, 02:51 PM
Andrew Duerner Andrew Duerner is offline
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Re: Looking for Swerve Module to Prototype

Yeah, the BOM cost is a little inflated because you have to buy packs of screws off McMaster. You could also save a bit machining your own Right Angle Drive frame.
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Unread 09-06-2018, 08:12 PM
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Re: Looking for Swerve Module to Prototype

AndyMark has the AM-3009 module that runs $325. It's not a CAD design for you to build but maybe it's something you can look at and draw inspiration from. We've used it the past 2 years and while it's pretty good and relatively affordable, there are definitely areas where it can be improved.


good luck!
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Unread 09-07-2018, 07:02 PM
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Re: Looking for Swerve Module to Prototype

This is admittedly somewhat old at this point, but It was fairly simple and cheap to prototype.

https://www.chiefdelphi.com/media/photos/41039
I think it took a couple days, and costed the team less than $200 dollars to put together, but we had a lot of the parts on hand.

Let me know if your interested. I might be able to dig up a CAD model and BOM for it.
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Unread 09-11-2018, 05:55 AM
John Weissman John Weissman is offline
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Re: Looking for Swerve Module to Prototype

Look up team 1640, swerve central. Sabotage has been doing swerve for 7 years plus and has cad and programming for swerves with bearing loads and such. I hope you can find some help with your project.
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Unread 09-11-2018, 11:28 AM
Andrew Schreiber Andrew Schreiber is offline
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Re: Looking for Swerve Module to Prototype

Quote:
Originally Posted by Bryce2471 View Post
This is admittedly somewhat old at this point, but It was fairly simple and cheap to prototype.

https://www.chiefdelphi.com/media/photos/41039
I think it took a couple days, and costed the team less than $200 dollars to put together, but we had a lot of the parts on hand.

Let me know if your interested. I might be able to dig up a CAD model and BOM for it.
I'd be interested if it's not trouble.
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Unread 09-12-2018, 07:06 PM
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Re: Looking for Swerve Module to Prototype

Quote:
Originally Posted by Bryce2471 View Post
This is admittedly somewhat old at this point, but It was fairly simple and cheap to prototype.

https://www.chiefdelphi.com/media/photos/41039
I think it took a couple days, and costed the team less than $200 dollars to put together, but we had a lot of the parts on hand.

Let me know if your interested. I might be able to dig up a CAD model and BOM for it.
This is what our team is doing for a prototype and its been good so far. you can do most if not all the machining on a manual mill but if your doing it on a CNC its really easy to do the only problem is that its vary dated at this point using shafts with keys instead of hex and in some places custom pulleys which shouldn't be a problem if you have a water jet and laser but still kinda a pain. it also uses a banebots planetary with a rs550 not a versa

heres the CAD link btw https://www.chiefdelphi.com/media/photos/41070

Last edited by Delr!n : 09-12-2018 at 07:12 PM.
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Unread 09-13-2018, 10:35 PM
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Re: Looking for Swerve Module to Prototype

2910's swerve modules are pretty cool. Not sure how complex to machine though.
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Unread 09-15-2018, 06:57 AM
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Re: Looking for Swerve Module to Prototype

If you are still looking for a design to build, our CAD is available here.

All the non-COTS parts are made using waterjet. The bearing groove can be cut with a lathe. There is also a list of the COTS parts in that thread. It can be built with either the 775s shown in the CAD model, or with miniCIMs with the standard versaplanetary adaptor.

Our code is also available if you want to build a drivebase and drive it around.
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Unread 09-15-2018, 01:03 PM
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Re: Looking for Swerve Module to Prototype

Quote:
Originally Posted by wgorgen View Post
If you are still looking for a design to build, our CAD is available here.

All the non-COTS parts are made using waterjet. The bearing groove can be cut with a lathe. There is also a list of the COTS parts in that thread. It can be built with either the 775s shown in the CAD model, or with miniCIMs with the standard versaplanetary adaptor.

Our code is also available if you want to build a drivebase and drive it around.
This is really impressive- thank you!
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2016: Quarterfinalists at Greater Pittsburgh Regional and Buckeye Regional
2017: Dean's List Finalist
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Unread 09-15-2018, 04:08 PM
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Re: Looking for Swerve Module to Prototype

I'll note that the entire Triple strange module can be printed. We have done this with many mods to integrate our CVT drive parts. So far we have found that a printed module may be robot worthy. A few parts will have to be AL. Most parts with mods for printing are proving very durable. No, we don't have a >$15000 printer. There are some really good filaments on the market now that can be used on affordable printers for structural pieces.
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