I designed this swerve drivetrain for the recent cadathon; unfortunately after spending a lot of time on the DT (a trap I keep falling into) I didn’t design a super great robot overall (Team 8), but I was proud of the module and wanted to showcase it here.
I think this is perhaps a somewhat new diffy swerve style, at least I haven’t seen one with the same gearing arrangement (correct me if I am wrong). This version of it is kind of silly because cadathon… but I think if one was careful it could be made with mostly cots gears, one of its main advantages. It also builds in a reasonable steering reduction which seems to be an issue with many diffy swerves (If I remember correctly 275rpm steering at 13 or 14 fps). One potential downside is it that it relies on a slightly strange coaxial gear stack up.
Let me know if there are any more Q’s or if how it works is unclear.