https://youtu.be/GAhuURYplvQ Get Behind the Bumpers with 1533 Triple Strange. Their Rapid React robot continues their awesome custom swerve modules with a versatile cargo path. We overview sensors, programming and mechanical features for this North Carolina DCMP champion
Love the swerve module. Does 1533 plan to continue with them, or switch to cots in 2013?
For the past couple of years we have discussed switching to COTS. But so far we have stuck with our custom swerve. It has been very solid for us and is something that has been passed along from generation to generation with each new batch of students refining and adding a little bit here and there. So there is a lot of personal pride in these modules.
We made a post about the design back in 2018. The design can be made from laser cut or waterjet cut (flat pattern) parts. The only post-machining is the grooves for the ball bearings and the drilling and tapping of the bolt holes in the side plates. The core structure is unchanged from the 2018 design, but we made a few changes to the absolute encoder in 2020 and 2021 that we carried over into the 2022 design. Instead of the absolute encoder gears being mounted underneath the module (where they are prone to damage), we integrated a 3D printed gear as a cross bar across the top of the module side plates. Our current public CAD shows this design iteration.
Here is the 2020 module showing the changes to the absolute encoder. For 2022 we switched from the VP gearbox on the drive motor to the MAX Planetary. It saved a little on weight and lowered the motor height a bit as well. Overall we are happy with that change.
As the students indicated during the interview, we are already looking at integrating treaded wheels into our design as well as flipped motors. We are currently running 6:1 from the motor, but we have looked at other gear ratios and could integrate a slightly higher ratio to bring the speed down and take advantage of the additional traction from the treaded wheels.
We will probably have more discussion about whether to switch to COTS swerve. The obvious advantage there is that you can have the modules done and ready to assembly your chassis in week 1 rather that waiting for the parts to be cut. This is a big advantage and very enticing. But the decision has not been made yet…
Here is our CAD study for the climber which shows the mechanics that Avery was describing:
It gives you a sense of how the robot hangs from one of the hooks while the other hook is able to reach the next bar.
The climber plates are also laser cut flat pattern plates with standoffs separating the plates for each stage. We worked on this concept a bit following the 2020 season where our tube in tube telescoping climber ran into reliability issues. We worked on this design in earnest following kickoff this year when it became apparent that the COTS climber were going to be hard to get our hands on. Overall we were very happy with how the climber worked.
There was a request in the comments on YouTube for a link to the CAD model for our robot. I provided a link there, but I figured I would also post it here.
any chance of making it copyable?
We adjusted the settings. Try it now.