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2 Wheel Swerve Drive

s_forbes

By: s_forbes
New: 09-11-2017 12:26 AM
Updated: 09-11-2017 12:26 AM
Views: 1724 times


2 Wheel Swerve Drive

Swerve drivetrains are complicated because they have so many parts. By using just 2 wheels instead of the usual 4, you end up with a simpler drivetrain that will give you fewer headaches.

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09-11-2017 01:29 AM

marcusbernstein


Unread Re: pic: 2 Wheel Swerve Drive

You joke (I hope), but I seem to recall a conversation with Mitch Stokes where he said the same thing, only with 3 rather than 2...



09-11-2017 01:34 AM

EricH


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by marcusbernstein View Post
You joke (I hope), but I seem to recall a conversation with Mitch Stokes where he said the same thing, only with 3 rather than 2...
He's not joking.

Might be a little early this year, though... Wasn't that supposed to wait a couple months?



He may even be approaching poohbear standards of drivetrain design.



09-11-2017 02:59 AM

Jeremy Germita


Unread Re: pic: 2 Wheel Swerve Drive

I like the use of those orange fiberglass driveway markers on that arm.



09-11-2017 07:20 AM

GeeTwo


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by Jeremy Germita View Post
I like the use of those orange fiberglass driveway markers on that arm.
I'm pretty sure that arm's for self-righting, meaning it's likely quite a bit stiffer than a driveway marker.



09-11-2017 07:42 AM

ratdude747


Unread Re: pic: 2 Wheel Swerve Drive

At least it's not an electric rip stick...... That's kinda what it looks like.

Put a low friction surface on those support legs and this could be viable in very specific situations, if a game created such. It would be fun to watch if nothing else.



09-11-2017 12:09 PM

BotDesigner


Unread Re: pic: 2 Wheel Swerve Drive

Why not use a flywheel to balance it by counter-reacting against any tilting? If you put brakes on it and designed the rest of the robot correctly you could even use it for self righting.



09-11-2017 12:17 PM

marshall


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by BotDesigner View Post
Why not use a flywheel to balance it by counter-reacting against any tilting? If you put brakes on it and designed the rest of the robot correctly you could even use it for self righting.
Oddly enough we've got some experience doing that with a rocket. Was used for a rocket competition to cause a rocket to rotate in flight and worked well.



09-11-2017 12:19 PM

s_forbes


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by GeeTwo View Post
I'm pretty sure that arm's for self-righting, meaning it's likely quite a bit stiffer than a driveway marker.
They actually are fiberglass driveway markers. A springy self righting arm would reduce the impact if (when) it falls over, if the robot can get it out in time. You can adjust the stiffness by using a longer aluminum tube at the base of the arm, it would probably need a lot of testing to find the best setup.

Quote:
Originally Posted by BotDesigner View Post
Why not use a flywheel to balance it by counter-reacting against any tilting? If you put brakes on it and designed the rest of the robot correctly you could even use it for self righting.
I like the idea of using flywheels, but you have to put a lot of weight into one to have any affect. It would be simpler to just balance with the wheels for this kind of setup, I think.



09-11-2017 01:36 PM

Mitch Stokes


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by marcusbernstein View Post
You joke (I hope), but I seem to recall a conversation with Mitch Stokes where he said the same thing, only with 3 rather than 2...
I hope you're kidding (1:24)



09-11-2017 02:11 PM

frcguy


Unread Re: pic: 2 Wheel Swerve Drive

This just gave me some dangerous ideas for Madtown Throwdown...



09-11-2017 02:55 PM

Lil' Lavery


Unread Re: pic: 2 Wheel Swerve Drive

Now make both swerve modules into differential swerves and give it to your programming team.



09-11-2017 04:39 PM

Richard Wallace


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by marshall View Post
Oddly enough we've got some experience doing that with a rocket. Was used for a rocket competition to cause a rocket to rotate in flight and worked well.
Appropriate, since the inverted pendulum problem is a historical element of rocket science.



09-11-2017 04:41 PM

AriMB


Unread Re: pic: 2 Wheel Swerve Drive

Looks like someone is trying to one-up Dean.



09-11-2017 06:05 PM

Nbot


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by AriMB View Post
Looks like someone is trying to one-up Dean.
The Swerveway ... patent pending.



09-11-2017 06:26 PM

Brandon Holley


Unread Re: pic: 2 Wheel Swerve Drive

I feel like theres still some fat to trim here...

Bring in the 1 wheel swerve...


-Brando



09-11-2017 06:37 PM

FrisbeeFunTime


Unread Re: pic: 2 Wheel Swerve Drive

Your lack of gyroscopic stabilizers very much concerns me.



09-11-2017 07:55 PM

Duncan Macdonald


Unread Re: pic: 2 Wheel Swerve Drive

It's been done.

http://team1318.org/2008
https://www.thebluealliance.com/team/1318/2008



09-11-2017 11:19 PM

s_forbes


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by Duncan Macdonald View Post
That's a neat robot, I hadn't seen it before! It's not too surprising that it's been done, most things have at this point. I'm envisioning one with a higher center of mass that only contacts the ground with the two wheels, though.

I really wish we had better footage of matches from back then, everything from 2008 on TBA looks like it was recorded with a potato.



09-13-2017 05:41 PM

P.J.


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by Brandon Holley View Post
I feel like theres still some fat to trim here...

Bring in the 1 wheel swerve...


-Brando
We refer to that as "slug drive" among my group of friends. It's one swerve module in the front and a skid plate in the back. It's suggested every year as the ideal drive train.



09-13-2017 09:25 PM

GeeTwo


Unread Re: pic: 2 Wheel Swerve Drive

Quote:
Originally Posted by FrisbeeFunTime View Post
Your lack of gyroscopic stabilizers very much concerns me.
For those poor lost souls who missed your references:



09-17-2017 11:56 AM

Sean Schuff


Unread Re: pic: 2 Wheel Swerve Drive

A variation of this was done back in 2000 by FRC team 47, Chief Delphi. They used two swerve modules and two swivel casters to accomplish the same thing. It was incredible for its time.



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