This project is a work in progress with more updates to come as we build upon this swerve base. White paper will also be out for it in the future. The main thing with this robot is the hinged rio and no belly pan so you can access all the electrical components from the bottom. Another goal was to keep a lower center of gravity and make a swerve base that is easy to add on to. This drivetrain was made in solidworks and Imported into onshape for easy sharing, if you want the solidworks file PM me.
That will be covered further in the white paper that I plan to post in the future. But a quick summary of the reasoning is it allowed us to mount all the components easier on the bottom because the whole goal of this drive base was being able to flip it over and access everything so when building the robot you don’t have to worry about covering the electronics from the top because it’s all able to be accessed from the bottom. And we went with tube stock because it provided extra weight low down and it also provided extra rigidity.