Below is a link to the CAD files for our 2019 off-season swerve module that we are building for further development.
This module is an evolution of the module we competed with during the 2018 season. That module was an evolution of a concept originally pioneered by Aren Hill, and executed on a competition robot by 2451 PWNAGE. Link to the thread for our 2018 module can be found here.
The things we wanted to focus on for this newest version were as follows:
-Increase wheel base to be as large as possible for increased stability
-Keep height of module below the top of a bumper that is as low as 1" off the ground (so 6" tall)
-Keep good ground clearance to be able to drive over various game elements (i.e. 2019 HAB1 & depot)
-Update both drive and steering motors to NEOs
-Switch to a dead axle setup for the wheel for simpler bearing setup and easier wheel swap
-Support shaft under vertical bevel gear with bearing so it is not cantilevered (biggest issue in 2018)
-Switch to an CTR Mag encoder for the steering instead of the MA3 encoder (had potential ESD issues in 2018)
-Keep as much as enclosed as possible to protect components and prevent jamming
With those items in mind as well as some smaller detailed stuff that I can’t think of off the top of my head, this is what we ended up with. Most of the custom parts are printed on our Markforged printer, with the plates cut out of black nylon on our Omio router. We are currently already in the process of making the parts for one module and have ordered all the necessary parts for four. We will be building up one module first to make sure everything checks out and then building a complete chassis. Some of the basic stats on this version:
-13.37fps free speed (18:80 GT3 SDP Timing Belt 116T; 32:16 20DP VEX Spur Gear; 18:45 1.25 Modulus KHK Bevel Gear; 3" wheel with printed hub and RoughTop Black SBR Tread)
-5.9rps on the rotation of the module (18:72 GT3 SDP Timing Belt 95T; 24:96 GT3 SDP Timing Belt 125T)
-2.07" from floor to bottom of module plate
-5.60" from floor to top of module cover
-2.25" from center of wheel to edge of frame (X & Y)
-7.5" from edge of frame to edge of module plates (X & Y)
-5.48lbs estimate: SolidWorks (does not include frame rails, we expect the weight to be lower as the Markforged parts come out lighter then the CAD estimate).
Below is a link to the GrabCAD site with both 2018 SolidWorks and STEP files. Below are some renders of the module. Feel free to ask any questions and we will be updating this thread throughout the off-season with any developments and lessons learned.