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 A winning robot is the better robot, no matter how it was made or how much it cost. - Chris is me [more] |
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this is what the swerve drive i'm working on will look like as for the state of the real thing it has everything but the transmission assemblies and the rotation setup on it. i've posted a picture of the bare frame
and yes i know the wheels are carbon fiber i was too lazy to make roughtop. but the progress as of now we may finish before kickoff i think we should but it also depends on the help i get. and then the programmers will have a toy to play with the first couple of weeks of build.
Discussion
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23-12-2006 15:26
Arkorobotics
Re: pic: 1625swervecad
Wow! It looks really nice! Great job, how are the wheels powered, what kind of motor swerves it? I can't tell from this angle, and distance.
I bet you could do a crazy control system with a (x, y, z) axis joystick!
23-12-2006 17:36
Lil' Lavery
Re: pic: 1625swervecad
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Originally Posted by Arkorobotics
Wow! It looks really nice! Great job, how are the wheels powered, what kind of motor swerves it? I can't tell from this angle, and distance.
I bet you could do a crazy control system with a (x, y, z) axis joystick! |
23-12-2006 17:52
Greg Needel
Re: pic: 1625swervecad
nice design. One thing you might want to consider is connecting the drive modules together so torque is transferred through each wheel. This will be adventitious if any of your wheels looses traction, the torque will be transfered to other wheels, keeping your power high. This is the major downfall of swerve drives, that your total power is the sum of 4 individual modules. compared to a standard drive of adding 2 modules. The change is in overall system efficiency. Although with your design it is possible to avoid this issue.
23-12-2006 19:59
Aren_Hill
Re: pic: 1625swervecad
each module has its own cim/dewalt 3 speed combo driving it. and the vandoor motor to rotate them all i chose this mainly because of only having to use 1 motor and the fact we have 4 2"wide wheels in contact with the ground.
if i link all the modules together i lose the ability to turn the frame itself yes i could do two and two but the drive systems been designed to handle 1 cim per 4"diameter wheel.
the dewalt gives us 3,7,12 fps speeds
23-12-2006 20:19
Lil' Lavery
Re: pic: 1625swervecad
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Originally Posted by Gear
if i link all the modules together i lose the ability to turn the frame itself yes i could do two and two but the drive systems been designed to handle 1 cim per 4"diameter wheel.
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23-12-2006 20:24
Aren_Hill
Re: pic: 1625swervecad
if you mechanically link all 4 of the modules you lose the ability to turn now if you do two sets of two connected then you can turn skid steer style.
and one thing i've done is all of the modules rotation are solidly linked. so the wheels always point the same direction.
23-12-2006 20:52
Re: pic: 1625swervecad
We built a swerve frame, with all of the modules linked, and were still able to skid steer. Each side of the drive train is one it's drive system, and all were connected to the same steering system.
23-12-2006 20:54
Aren_Hill
Re: pic: 1625swervecad
sorry when i said link them all together i mean that if you mechanically link the power to the wheel(all 4 cims) you then lose the ability to skid steer the bot
what i am doing is mechanically linking the rotation of the module. so i'll still have the ability to skid steer.
24-12-2006 03:31
AdamHeard
Re: pic: 1625swervecad
So... you were all saying the same thing then...
Link the rotation of the modules to one motor, but each module or pair of modules will have its own power so skid steer will still be an option.
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