MK4i 3d-printed model with swivel casters

[Max_Morehead]

This year is team 6662’s first year doing swerve, but they only have 4 modules. So I designed a 3d-printed stand-in for them with swivel casters. That way, the team can build their robot using the models, and switch the actual modules off the practice bot once the main bot is finished. I think I a saw a similar design on CD previously, but I don’t think there was CAD. Maybe other teams will find this useful. Feel free to share similar models.

Here is the model (released under CC0):

Onshape

Uses these casters:

McMaster-Carr

[FinIce]

Do you think this would function well during competition as a dummy module (a quick fix for a broken module)?

[Max_Morehead]

Probably not; that wasn’t a design requirement. Maybe if you print it out of Carbon Fiber Nylon with high infill, but that sounds expensive.

[zog]

@FinIce

a quick fix for a broken module

Search for “swerve drive crazy wheel” right here on CD and you will find what you seek.

[Weldingrod1]

Swerve crazy wheel

I built our team a crazy wheel that fits the SDS MK4 modules. The idea is that when you fail -something- on your swerve module and need it working in a big hurry, you pull off the wheel and substitute this thing! Its a 4" Omni wheel with bearings in it, so it rolls any way you want, irrespective of what the swerve module is doing (steer OR drive)! I recently made some updates so that it uses the stock SDS bearings… Bore or drill out the hole in the AM-2948A Omni-wheel to anything over 1/2". …

And my latest version:

[zog]

@Weldingrod1

my latest version

You’re this mentor’s favorite mentor. Rock on!

[Weldingrod1]

BTW, I got some feedback about the crazy wheel and we had a team trash two of them at the Robot Remix. Going sideways into steel plates bends the aluminum plates…
Other teams solve the crazy wheel problem with blue tape on the tread.

The white wheel is, um, solid Teflon. I had some left over after a work project

[zog]

@Weldingrod1

The white wheel is, um, solid Teflon.

I figured very nicely smoothed Delrin but that’s even nicer.

[cmdada]

@Weldingrod1

solid Teflon. I had some left over after a work project

I was hoping theyre was finally a use for lunacy wheels…

[kswaid]

We did this last year on 1740 and it worked great. Since we could only afford one set of swerve modules it allowed the programmers and driver to work with an operational chassis while build had an accurate rolling chassis for prototyping and testing. Mechanisms could then be swapped over when ready.