TEAM 2451 PWNAGE OFF-SEASON SWERVE CONCEPT
DUAL 775PRO DRIVE MOTORS, 2-SPEED GEARBOX
BELT DRIVEN STEERING FOR REDUCED BACKLASH
ABSOLUTE ENCODER FOR STEERING WITH 1:1 GEARING
GRAYHILL WHEEL SPEED ENCODER
CAD IS AVAILABLE FOR DOWNLOAD AT THE FOLLOWING LINK
Copy and paste the following link into Windows Explorer (not Internet Explorer)
I might be doing something wrong but when I paste that link into file explorer I get a popup asking if I want to open with chrome, firefox, edge, or internet explorer.
THANK YOU, KEVIN.
I ALWAYS LOVE YOUR SWERVE DRIVES.
Seriously though, I do always enjoy them. The color coding is surprisingly useful.
Interesting that you’ve chosen to go with 4 swerves instead of 2 to hole the forks on with this one. Was there any particular driver for the switch?
I liked dual-775pro swerve until I realized that if you want to run 4 modules, you only have 4 PDP slots left, and IIRC having more than 1 is illegal. Still, it’s a very cool drivetrain.
We use color coding in our day jobs so it is easy to differentiate the various components, it also assists when discussing a design in a group environment. For example, did you mean “Why did we use four screws on the blue wheel mounts?” We did use four screws on the last design to help with thrust loads. This particular design has a live axle so we do not get the advantage of the axle boxing the side plates together. This time we used counter bored holes from below instead of clearance holes from above to assist in assembly and disassembly.
The motor usage is a tradeoff, this setup would only be used in a very specific game, we understand that. There are dual 775Pros and the gear ratio and wheel speed is artificially high for a reason. Since in a swerve drive with a large sweeping arc your outer most wheels are the limiting factor in surface speed across the floor. The inner wheel is traveling the slowest and your outer wheels dictate the velocity limit. This design would allow you to overdrive your outer wheel to increase its velocity and therefore maintain your surface speed during a dynamic move. We would never power all eight 775Pros at 100%. The net average current would be similar to a 6 CIM drivetrain. Imagine rotating around a front tire while still maintaining a high rate of speed across the floor. In that scenario your outer wheel is required to go much faster than the inner tire and much faster than your speed across the carpet. This swerve would allow for that additional outer wheel speed.
I like the design overall, but I am concerned that if those 775s stall you’re going to have a really bad day.
Hey! This looks great! Might I offer a word of caution? The inverted bag motor and gearbox caused my team a ton of trouble in Recycle Rush. We used them on the manipulators and we had to replace them constantly. They worked great almost any other orientation though. Although if you have them placed in an area of low vibration/impact you might be fine, or if you add a shaft coupler you may avoid this. Shout out to your drafting team, this looks great!