During the end of competition season, and all of the off-season (until now) we have been designing a swerve module, hopefully for use in 2020. Our focus with this module was simplicity and ease of manufacturing. We tried as best we could to stick to designing/manufacturing processes that we already have experience with. Both the base and top plates require a CNC machine, but all other parts can be made with common drills and saws. A few pieces will be made on a 3D printer (printing PLA). The base plate is made of 5/16 inch aluminum and the top plate is 1/4 inch lexan. we are using two 15t Vex bevel gears and 3.25 inch VersaWheels. The drive motor is a CIM geared 5.83:1 using a 12t pinion and a 70t spur gear. The azimuth motor is a BAG geared 63:1 using a Versa Planetary gearbox. The speed of the swerve as calculated by this calulator is 12.92 ft/s. Each module weighs approximately 9.37 pounds, heavier than ideal so any suggestions about reducing weight would be greatly appreciated. This design was influenced by the designs of team 33 and team 2910. While the actual design is not similar, the technical paper by team 2767 about their third coast swerve was a huge help.
This is our first year trying Swerve so design suggestions are greatly appreciated, This is also my first year doing CAD, so suggestions on improving the CAD would also be appreciated.
Full CAD: 3175OffSeasonSwerve.STEP (32.7 MB)