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By: BlackBird11891
New: 17-06-2009 01:22
Updated: 17-06-2009 01:22
Views: 1109 times
This is team 1927's Swerve Module from 2009
The top sprocket is the drive sprocket, and runs all the way through the module. The second sprocket is the steering sprocket and is connected directly to the module.
The module is hooked to the bot by a bearing with a flange witch sits under the steering sprocket (further details are available if needed or wanted)
There were four of these modules on our 2009 robot. The left and right side were individually powered, with 2.5" cim motors running through dewalt transmissions, and the front and back were individually steered. This setup allowed us to have 4 different drive modes: 1. TANK- no steering/ left and right individually powered 2. ACKERMAN- front is steered / left and right individually powered 3. DENALI- front and back individually steered with left and right individually powered 4. CRAB- front and back steered together and left and right powered together
PLEASE leave comments
Discussion
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17-06-2009 09:19
FriedLiver
Re: pic: Team 1927's swerve module
Ahhh fun stuff. I've been wanting my team to experiment with a system similar to this for a while. Expesically with the different modes of drive. Looks awesome
17-06-2009 15:30
sgreco
Re: pic: Team 1927's swerve module
It looks pretty good...A few questions though...
1. What is the wall thickness on the module? (the module itself doen't quite look strong enough)
2. Is there anything else attaching those drive pullies on the shafts besides the set screws? Because if there isn't you'll need to find another way to secure it, the set screws will loosen.
3. Are you going to have any more suppot on the vertical drive shaft?Because it looks like that drive shaft is going to be torqued in which ever dirction the chain is coming from.
4. How heavy is it?
5. How thick is are the drive shafts?
It looks nice, It makes me really happy to see all of the great offseason CAD work that teams are doing.
17-06-2009 23:57
BlackBird11891
Re: pic: Team 1927's swerve module
wow lot of questions the walls are 3/16" thick and the shafts are 1/2"
bearing and all it ways about 6 lbs. a piece i think
we used set screws this year and that was our biggest problem was them coming loose as well as throwing chains so next year were going to go with roll pins for SURE!! ha
we are also going completely away from chains and using all belts there much simpler!!
20-06-2009 22:17
BlackBird11891
Re: pic: Team 1927's swerve module
Also to be noted the on the side of the yoke the cut out is still there
20-07-2009 00:49
BlackBird11891
Re: pic: Team 1927's swerve module
we just built a chassis with regular wheels and ran it for 3 hours on carpet... they performed excellently
20-07-2009 00:59
Akash Rastogi
Re: pic: Team 1927's swerve module
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Originally Posted by BlackBird11891
we just built a chassis with regular wheels and ran it for 3 hours on carpet... they performed excellently
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Great work. =) I love how simple these modules are!
20-07-2009 09:19
gallo26
Re: pic: Team 1927's swerve module
Wow! Those modules look amazing! Our team did crab for about 3 years, but stopped because of the hard work that went into them. The platter bearings we had to make were SOO expensive, the software was over complicated, and if there was a malfunction or error in the code the modules would keep spinning and rip the motor wires right out of it. (we had the motors mounted to the actual module like most) For 2008 we thought crab would be the best, but after the debates we couldn't design a new module like you guys have which would eliminate the issues we've had. Very awesome design!!
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