This is the latest iteration of the swerve drive module that I have been working on over the past few years. For previous iterations, check out this thread.
CAD for this module can be found here.
Overall, this iteration continued to get smaller and lighter. Also, this iteration utilizes a Neo550 for the steering with a single stage UltraPlanetary gearbox on it. This helped further reduce the size and weight of the module.
Some overall specs for the module:
Full footprint from edge of frame: 4" Width x 5" Length x ~7.4" Height
Distance of wheel from edge of frame for wheel base: 2" from both sides of frame
Full weight: ~3.45lbs (SW Mass Properties, all parts either have assigned weight based on COTS reported weight, or correct material applied; printed parts have estimated weight from Eiger assigned)
Drive ratio is a 20:40 bevel gear ratio, first spur stage off the motor is 10/11/12:28. Optional 9:30, or 13/14:26 also available.
Drive Speeds (free speed):
12.16fps (09:30 first stage)
13.27fps (10:28 first stage)
14.59fps (11:28 first stage)
15.92fps (12:28 first stage)
18.57fps (13:26 first stage)
20.03fps (14:26 first stage)
Steering ratio is a 5:1 (5.23:1 actual) UltraPlanetary Gearbox, followed by a 16:86 GT2 belt stage. Overall ratio of 28.1:1, ~391rpm free speed.
Steering position is determined using a Lamprey Encoder mounted to the top of the pod. Local control to get to position can be done using the encoder on the n550.
Module is symmetrical, allowing for same parts to be made for left and right hand modules.
Module is also set up so that it can easily be mounted for either a standard frame or for a frame with a bumper/frame cutout.
I will have another version posted tomorrow that has the drive motor flipped and the steering motor lowered. This version will be ~5.5x5.5 while being only 6" tall so there is an option to fit under the bumper height. This version will be right at 4lbs.