So apparently I can’t quit thedifferential swerve stupid idea. The problem I saw with the previous designs is that the steering ratio is too fast, which leads to twitchy modules. So in response, I’ve designed a gear train that adds another stage to the steering train after the differential. The result (if I’ve calculated correctly) is a drive ratio of 4:1 on 3" wheels, and a steering ratio (with one motor stopped, and one motor spinning) of 35:1 which is right in line with non-differential swerves, so it should be more controllable.
Of course, it still has entirely too many moving parts to be reasonable, but after a day of CADing, I figure I might as well share it in case it inspires someone else. Hope it does!
dsw2 ratio calc May2019.xlsx (8.8 KB)
cx19-dsw2-diff swerve assy sketch.STEP (11.5 MB)