Have you ever asked yourself, “How would an MK4 Swerve handle a terrain game? Could it scale obstacles? Or is it doomed to fail at a 2” bump in the ground?”
No? Well, I am pleased to introduce my latest creation, MK4T Twerve. While the original motivation was literally “it would be funny”, the real purpose is quite serious: improving the performance of traditional swerve in terrain games.
Key Details
As mentioned, the objective of the MK4 Twerve Drive is to be able to handle tough terrain games as efficiently as possible. However, to prevent the design from becoming too complex or inaccessible, I made it a goal to make the design as conservative as possible, hoping to ensure that teams could easily adapt this design into their MK swerve module without needing insanely specialized components or extensive modifications.
Everything above the wheel is the same as the MK4i module, including the shoulder bolts and bearings below the wheel (you just need 2 extra shoulder bolts and 4 more bearings). This means that teams who already have MK4 line modules will have a smoother time integrating Twerve.
- Size comparison
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Weight: 2.6lbs heavier than the same configuration of regular mk4i (6.0 w/ NEO)
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Designed to be manufactured using a 3-axis CNC mill with tool changer (7475 has a Tormach 1100m) (and a lathe for the billet wheel)
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Only 8 major custom parts, Two printed pulleys, two-piece billet pulley, two forks, skid plate, belt (+ handful of minor custom printed spacers)
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Keeps things simple by using the same power transmission system. No additional modes of power transmission are introduced.
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Uses a common size stock for all parts, all parts are machined from 1/2 aluminum plate stock (1/8 for the bearing spacer)
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Drives at 80% the speed of the same gearing on regular 4inch wheel setup
Why Twerve?
Standard swerve designs with a 4” wheel typically achieve less than 15 degrees of climb angle on a 1.5” bump, which makes them less than ideal for terrain.
MK4T solves this problem, achieving a climb angle of 45 degrees without compromising the design of the standard swerve module.
Here’s a comparison of the climb angles:
Comparably, to get the same climb angle at the same height, you would need a 10" wheel to even come close.
Design Variations
MK4T Twerve offers 4 distinct configurations, each tailored to different preferences:
Regular On-center Configuration
This is the latest and most improved version of the Twerve which focuses on giving you the ability to steer the module, which makes it a better choice for general driving.
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Programs and drives the exact same as regular swerve
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Less mechanical complexity
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Reuses the same drive bearings and shaft spacer as mk4
Cons:
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Requires high bumper configuration
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Requires flipped motor swerve (mk4/mk4c/ flipped mk4i)
Regular Off-center Configuration
This is a base version of the Twerve module focused on accomplishing the main goal of improving climbing performance. However it lacked the ability to steer easily as there is a lot of turning scrub.
Details
Pros:
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Fits inside frame perimeter a lot better
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Smaller
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Does Not require flipped motor configuration of mk4i
Cons:
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Prog team kills you because you can’t steer
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more complex power transmission system
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slower drive ratio
Suspension On-center Configuration
This is a design that used both the steering ability of the regular Twerve and the shock absorption benefits of the suspension.
Details
Pros:
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Can Steer
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Can still climb obstacles easily without being a programming nightmare
Cons:
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X contact bearing sees increased forces
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Incompatible with odometry as your contact point moves
Suspension Off-center Configuration
This is a blended version between the frame benefits of the off-center design with the added suspension, which can absorb shock when you run into an obstacle or fall down after going over an obstacle. However, it makes it significantly more complex.
Details
Pros:-
Compatible with regular mk4i configuration
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most efficient configuration for pure obstacle climbing
Cons:
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Cant steer
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Greatly increased mechanical complexity
I hope that by sharing this I inspire you to build cool things! If you have any questions or comments, please feel free to post here or contact me directly.
shoutout to @AntPoison for helping with the writing and formating