pic: Lightweight (relatively) 2 CIM Shifting Swerve Drive

[Bryce2471]

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[glennword]

How did you do the serpentine calculations? Gates IQ?

[asid61]

Looks good. Why do you have two encoders? Is one for rotation?
Is the shifting shaft custom or vex?
What pitch is the belt?
Also, out of curiosity: is the gear running on a bearing or is it just bolted to the wheel? I designed mine with a bearing in the gear for safety, but is it necessary?
Is the wheel running on bearings or just on an aluminum hollow axle?

[Bryce2471]

Originally Posted by glennword

How did you do the serpentine calculations? Gates IQ?

No, I just did an approximation with the center of the belt backing. It does't need to be perfect. If the belt length was off by up to a half inch in either direction the tensioner would adjust.

Originally Posted by asid61

Looks good. Why do you have two encoders? Is one for rotation?
Is the shifting shaft custom or vex?
What pitch is the belt?
Also, out of curiosity: is the gear running on a bearing or is it just bolted to the wheel? I designed mine with a bearing in the gear for safety, but is it necessary?
Is the wheel running on bearings or just on an aluminum hollow axle?

Yes, one measures wheel orientation, and the other measures travel speed.

It's vex, but it's shortened on both ends.

HTD 5mm

I doubt that a bearing in the gear is necessary. With a dead axle that's well
supported, bearings on either side of the wheel, and a gear that's close to the wheel, you shouldn't have any trouble just bolting the gear to the wheel.

The drive wheel is running on two ball bearings on an aluminum hallow axle.

[asid61]

Originally Posted by Bryce2471

I doubt that a bearing in the gear is necessary. With a dead axle that's well
supported, bearings on either side of the wheel, and a gear that's close to the wheel, you shouldn't have any trouble just bolting the gear to the wheel.

The drive wheel is running on two ball bearings on an aluminum hallow axle.

Can you put one bearing in the gear and one in the opposite side of the wheel? You still get the support that way, as well as alignment. And you still only use two bearings.

[Al Skierkiewicz]

Nice Job!

[hrench]

really amazing. Now all you need is to be allowed eight CIMS on the bot. and a refrigerated main breaker.

[Bryce2471]

Originally Posted by asid61

Can you put one bearing in the gear and one in the opposite side of the wheel? You still get the support that way, as well as alignment. And you still only use two bearings.

you could do that, although it's not the optimal solution in my mind because the bolts would be loaded in shear by the weight of the robot.

Originally Posted by Al Skierkiewicz

Nice Job!

Thank you!

Originally Posted by hrench

really amazing. Now all you need is to be allowed eight CIMS on the bot. and a refrigerated main breaker.

this accually only uses 1 CIM and 1 mini CIM. The breaker would most likely be okay, assuming that auto-shifting code was used.

[asid61]

Originally Posted by Bryce2471

you could do that, although it's not the optimal solution in my mind because the bolts would be loaded in shear by the weight of the robot.

Thank you!

this accually only uses 1 CIM and 1 mini CIM. The breaker would most likely be okay, assuming that auto-shifting code was used.

Good to consider.
What miter gears are in there? Are they the vex ones?
And I assume those pulleys are aluminum... just a random thought.

[Bryce2471]

Originally Posted by asid61

Good to consider.
What miter gears are in there? Are they the vex ones?
And I assume those pulleys are aluminum... just a random thought.

They are 20 tooth 20 pitch steel gears from SDP/SI.
Yes they are aluminum pulleys from B&B man.

[asid61]

Originally Posted by Bryce2471

They are 20 tooth 20 pitch steel gears from SDP/SI.
Yes they are aluminum pulleys from B&B man.

Ok, good. It just seemed like they would be heavy for this design due to their solidity.