This is a swerve that I designed in the off season. I do not plan to use it for 2020, but its a possibility for 2021. I’m mostly looking for feedback and ways it can be improved. The goals for this module (in order from most to least important) are:
Low height above the frame to increase space for other mechanisms
Use as much non-metal materials as possible to reduce weight and speed up manufacturing times
Use belts for azimuth to reduce backlash ( a big issue on my previous module)
Keep manufacturing simple, and keep number of parts made with non-additive manufacturing methods low
This module succeeds in some of the goals, but falls short in some places. One big issue is the manufacturing required to modify the large bevel gear. Another issue (though not actually a main goal) is the total size of the main plate (8.75"x8.75").
The main plates are made of nylon, held apart by hex shaft standoffs. The pulleys and wheel mounts 3D printed, for testing purposes we will print them out of Makerbot tough PLA, but on the competition version they would be printed out of Onyx. The module currently weighs just over 5lbs, and that was about the target that I was aiming for. The wheel tread is AndyMark blue nitrile tread. The main bearing is the 4in OD bearing from ThriftyBot. Any and all questions, criticisms, or feedback is welcome and appreciated.