Team 4265 The Secret City Wildbots is proud to present the fourth iteration of our two-speed swerve design.
After successfully running the previous iterations of shifting swerve modules during the 2021 through 2023 seasons, we decided to improve our Inverted-style module design. Our shifting swerves allow for the ability to keep a high speed while not sacrificing pushing ability. The inverted style of our swerve allows for a lower drivetrain center of gravity, allows for more open space above the bumpers, and protects the modules from damage accumulated throughout the season. This year, we changed our azimuth mechanism from a pulley to a gear to simplify machining and reduce manufacturing time. We also got rid of the chain on the output of the shifter in favor of gears to increase efficiency, decrease weight, and remove the need for a tensioner. We moved the motors from the edges of the swerve to the center so that the module could be removed through the corner without the need for space above or behind the serve for removal. We moved the wheel further into the corner to save more room and weight. We moved the motors from the main plate to the top plate, raising them to be more protected. The current design has free speeds of 7.66 ft/s in low gear and 18.03 ft/s in high gear; however, other possible gearings can be found in this spreadsheet for 125mm (~5in) wheel configuration.
Inverted Shifting Swerve Gearing.xlsx (6.6 KB)
The total dimensions of the module are 8” x 8” x 7.54 in”, and it sits 2.91” above the drive tubes.
CAD file can be found here:
Inverted Swerve CAD