The latest iteration of my swerve design. Previous versions and more information on previous development can be found here.
STEP and SolidWorks files available here.
Main change on this version from the last is I made it longer to be able to make it shorter by moving the Ultraplanetary and NEO 550 out and down so that it is less exposed and to make the module shorter overall.
3.875 W x 5.25 L x 7.6 H
All gearing of the drive and steering is the same as the previous version, with the only difference being that the steering belt is 100T, changed from 94T on the previous versions.
Drive ratio is a 18:45 1.25 module bevel gear ratio, first stage off the motor is 10/11/12:28 20DP spur gear. 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 using a 100T belt. 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.