pic: 1625's swerve module (better pic)

[hillale]

Originally Posted by Lostmage333

That module looks very simular to our initial idea, except we were putting the motor/transy inside the module itself.

It's very nice looking =D

That's what we did last year, we had a cim mounted vertically through a dewalt on each of the modules. This coaxial design made maintenance much easier (though it has gone through 3 regionals and hasn't broken once). Here is a pic of our underbelly, http://www.chiefdelphi.com/media/photos/28596. I guess we don't have a closeup of the module from last year.

[Aren_Hill]

Originally Posted by A_Reed

how is the lower plate supported? I know it used as a bearing surface, but it is sandwiched between plates or riding on small ball casters. I have always wondered how this work with swerve modules, I understand the rest of it but the lower support plate is the only gap in my limited knowledge of drive systems(I don't go into the kinematics...yet).

the bottom disc is simply supported by 4 tangential pieces of UMHW (ultra high molecular weight) plastic, that we keep white lithium grease on all the time to keep it slick. Rollers are more efficient but take longer to install and are heavier

[roboticWanderor]

Originally Posted by Peter Matteson

You're the only other team I've seen do welded tube construction wheels. I thought we were alone with that because everyong else seems to hog them out of a billet.

418 has been doing them for years, exept we use 1"x1/4" stock to make spokes instead of using plate. then we speed hole them to make them even lighter.
here is a cad of them i don't have a good picture.

[SgtMillhouse648]

Yes, I loved your guy's setup when you brought over the spare module to compare to ours at MWR. It is a real slick setup, not to far from ours. Great job on the wheels, and I absolutely love the sprockets you guys use to steer. That is an amazing setup on that. Hawging out the middle of hte sprocket also has to save a ton of weight, and I liked the slotted holes in the sprocket (if I remember right) to fine tune each wheel's tracking before you went out onto the floor.
Malhon

[Chris Herold]

Hey, I like it. They look great! Swerve drives are for me as a rookie pretty impressive just because of their advantages. I'll probably test my cad abilities during the off-season by designing one myself... I'll see but it's a nice piece of metal!

Chris