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Unread 04-13-2018, 09:40 AM
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pic: 1533 - Strange Swerve 4.1 for VersaFrame

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Unread 04-13-2018, 09:51 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Looks a lot like the swerve I've been working on. Are you guys releasing CAD this time?
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Unread 04-13-2018, 10:01 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Do you have more pictures or a CAD of this?
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Unread 04-13-2018, 10:06 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

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Originally Posted by notmattlythgoe View Post
Do you have more pictures or a CAD of this?
Yes, In this thread here
https://www.chiefdelphi.com/forums/s...d.php?t=160927
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Unread 04-13-2018, 10:10 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Nice! We love the VersaFrame and swerve combo we've had the past two years. This one looks amazing!

What do the slots for the mounting bolts help with?
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Unread 04-13-2018, 10:10 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

CAD on it's way...

Previously posted renderings...ignore 775pro's...we are using Mini-CIM's.

Picture of the assembly from slightly above:
http://imgur.com/qOIcLBU

Picture of the assembly from slightly below:
http://imgur.com/04Fyj27

Picture of the assembly exploded:
http://imgur.com/h6NQcWr
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Unread 04-13-2018, 10:13 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

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Originally Posted by RobotNerd1 View Post
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Unread 04-13-2018, 10:20 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

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Originally Posted by Big-b View Post
What do the slots for the mounting bolts help with?
From what I see, it allows them to make the plates independent of particulars on their frame setup, like if the VersaFrame holes are in different places on the left or right side due to a not-exactly-on-the-inch cut. Instead, since you know there's a hole somewhere along every inch, they just throw enough bolts at it to let them constrain the module.
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Unread 04-13-2018, 11:34 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

That is some real slick double stacked gears you have there. A bushing on the output shaft of the motor for the final stage before the input pinion, which also acts as a collar to hold everything in place. I'm sure finding the right gears for spacing and ratios was fun. Very, very clever.
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Unread 04-13-2018, 11:56 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Can you talk us through your steering gear process? Looks (from the single picture) like the undercutting is a little lacking, so I'm curious if that's from design, or production.

How did you manufacture the steering gear, and other plates?
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Unread 04-13-2018, 03:43 PM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

How much does a module weigh?
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Unread 04-13-2018, 04:04 PM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Quote:
Originally Posted by Cyberphil View Post
That is some real slick double stacked gears you have there. A bushing on the output shaft of the motor for the final stage before the input pinion, which also acts as a collar to hold everything in place. I'm sure finding the right gears for spacing and ratios was fun. Very, very clever.
Just to clarify the design a bit, the output shaft of the motor has both a 20DP gear (which meshes with the steering gear on the turret of the module) as well as a small plastic gear. These are the gears that you see stacked in the picture. The small plastic gear meshes with the larger plastic gear on the left. That larger plastic gear is mounted on a continuous rotation potentiometer (you can see the "D" shaft of the potentiometer in the hub of the gear). The gear ratio of the plastic gears is the same as the gear ratio between the 20DP gear and the turret gear. That way, the potentiometer makes one 360 degree revolution at the same time that the turret makes a 360 degree revolution. This gives us absolute steering angle feedback for our control system.

We turned down the end of the 3/8" hex output shaft from the steering motor to the right size for those plastic gears. That way, we could mount the 20DP gear on the 3/8" hex portion of the shaft and the plastic gear on the smaller portion of the shaft. The collar is a belt and suspenders approach as the plastic gears actually have set screws to secure them to the shaft. But we did not trust the set screw, so we added a collar for extra security.
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Unread 04-13-2018, 04:11 PM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Quote:
Originally Posted by Mechvet View Post
Can you talk us through your steering gear process? Looks (from the single picture) like the undercutting is a little lacking, so I'm curious if that's from design, or production.

How did you manufacture the steering gear, and other plates?
We waterjet cut all the non-COTS parts for the module. The gear teeth in the turret are cut by the waterjet. We have found that it takes only a small amount of running before the gears lap in and run smooth. We used the 20DP profile for the teeth in the CAD model for the parts and then the waterjet path is offset by the kerf. The tolerance is not as tight as what you will get from a 20DP gear that you buy from AndyMark or VEX. But since the steering is relatively low speed and low load, we have not had a problem with this mesh. We used to include a small amount of adjustment (slotted holes) for mounting the steering motor to be able to adjust the mesh, but now that we are on version 4.1, we have found that the teeth on the turret are consistent enough that we do not need that adjustment any longer.
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Unread 04-14-2018, 11:44 AM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

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Originally Posted by mikeb3173 View Post
How much does a module weigh?
6.8 pounds fully configured for PowerUp.

https://www.chiefdelphi.com/media/photos/46428?
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Unread 04-14-2018, 12:48 PM
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Re: pic: 1533 - Strange Swerve 4.1 for VersaFrame

Quote:
Originally Posted by wgorgen View Post
We waterjet cut all the non-COTS parts for the module. The gear teeth in the turret are cut by the waterjet. We have found that it takes only a small amount of running before the gears lap in and run smooth. We used the 20DP profile for the teeth in the CAD model for the parts and then the waterjet path is offset by the kerf. The tolerance is not as tight as what you will get from a 20DP gear that you buy from AndyMark or VEX. But since the steering is relatively low speed and low load, we have not had a problem with this mesh. We used to include a small amount of adjustment (slotted holes) for mounting the steering motor to be able to adjust the mesh, but now that we are on version 4.1, we have found that the teeth on the turret are consistent enough that we do not need that adjustment any longer.
Very cool, thanks for the answer!
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