I’m looking for examples of protective covers (not dust covers) that teams used for their MK4 (non-inverted) modules. I know some folks incorporated carry handles over their motors as well. Anyone want to share photos or CAD images? Thanks very much!
We did a 3motor Mk4 module over the summer, but the design will work off regular Mk4 too. A single 3D printed cover serves as both the spacer for the falcons (so we don’t have to cut the shaft) and for enshrouding the upper gears of the module.
Key thing is we found that a wall thickness of 0.7mm creates a perfect 2-walls on our Markforged printers, which makes a bendy but strong and very thin wall, good for applications like this.
Any cover like this does prevent easy inspection and maintenance of the gears, which is a major downside.
We ended up retapping one of the Mk4i mounting plate holes to 1/4-20 and threading in a load rated eyebolt, locked with a nut. We attached removable handles to the eyebolt:
It’s not the most elegant solution I see in this thread, but our 2022 bot had 1/4" polycarb bent and mounted onto to angle Iron which we bolted on top of the swerve module plates. Never had any big issues with motors being damaged even after large collisions once we did this.
Yes, but the high configuration raises the robot CG by a full 2 inches. The stilts only raised it by 1/2 inch, which helped to keep the robot more stable.
For our off season robot, we achieved the same effect by making the chassis out of 1x1.5" tube, instead of 1x2".
I’m not sure that’s necessarily accurate. Since you often have to build mechanisms higher than your frame rails, (so they get over the bumpers) everything can stay in the same place relative to the floor. Only the frame rails move. Similarly ballast can be under hung from the rails as well. The battery can also be mounted lower too. All of these things seem simpler and less risky to me than messing with the MK4i. Solid implementation though.
Sure sure. You can design your frame to sling everything 1.5" below the frame rails if you want (any lower defeats the purpose of increased ground clearance). But that’s arguably more work than our solution. Especially since we implemented the stilts after the robot was already built, and we wanted to improve it’s performance on the Charge Station without completely redesigning and rebuilding the frame.