This off season, my team is pursuing a swerve drive and this is the design currently proposed. Since this is our first time ever attempting swerve, my goal with this design was to make the module robust, simple, and easy to manufacture/maintain. I took inspiration from many other teams’ swerve modules including 2910, 1640, and 118 Revolution Pro. Even though my design looks very similar to 118’s, I actually was almost finished with the CAD when I saw their design. Great minds think alike I guess!
Following my design goals, I decided to go with the simple, “classic” swerve over bevel beside wheel and other more efficient variants. It is geared for 14.6 fps but can be configured to 17 fps or 12 fps as well. The weight, according to Inventor, will be about 7 pounds per module.
Some unique things about the design:
- First stage drive reduction belt is tensioned by sliding the NEO along slots and tightening the motor screws. There is a picture attached of the slots.
- Designed to include shims in shafts where tolerances might be an issue. Some of the parts will need to made on our new CNC router and we are still figuring out how to optimize the machine so I wanted some way to make sure everything will fit together well regardless of what kind of tolerances we ended up with.
- Going with the above point, all the parts are either COTS or simple routing operations on a CNC router (with the exception of one 3D printed spacer)
The only issue I currently have with the module is how tall it is. However, that is a trade off I am willing to make with how simple the module is.
What problems or concerns do you guys see in the design? Please be critical. Any problems I can catch at this stage will be one less headache in the future.
Link to GrabCad: