SDS MK4c, Corner Biased, Swerve Module

[burakdemirelli]

@nuttle

The diagram you sent (from the assembly guide I think) covers things. It doesn’t say press fit for this combination, and I wouldn’t expect you to need to do so. (Especially since it mentions retaining compound / retaining ring.)

Yes, the document says slip or press fit and the shafts we received require a press fit. Do not worry, we will still be applying Loctite 609 as well. However, this still does not address the question and I do not wanna side track. My question is:

@burakdemirelli

My understanding from the CAD screenshot below, is that it would still mesh completely if the gear was pressed flush with the end of the shaft.

@burakdemirelli

Is there any specific reason, or incentive to inspect this measurement during assembly? If not, it would make pressing the pinions in a vice by students possible, which was my plan.

[nuttle]

You have things there, and this is the source of your best answer. But, it does look as though the pinion is the only thing on that shaft. And, it looks as though you have some degree of freedom in how far you press it. If you need to press it further, do it carefully. A couple of washers or a short spacer would be able to press the pinion in a vice, beyond flush with the end of the shaft. Be sure to leave at least a day for the retaining compound to set before you use the modules.

It’s probably good that it’s a press fit – retaining compound works well when used as designed, but it can be a weak point. I’d clean both sides of the joint before you start, to remove any residual oils, etc.

[Timeworm]

Is there a method for zeroing the swerve modules? We are coming from MaxSwerve and we use their cut outs for zeroing but the MK4C doesn’t come with that sort of device.

[nuclearnerd]

@Timeworm

Is there a method for zeroing the swerve modules

Typically we push a piece of plywood beside the front and back wheels on either side of the robot. That forces the wheels to all point forwards, and that’s been pretty repeatable.

[Timeworm]

My programming guru tasked a design member to make a similar zeroing block to the MaxSwerve. With our testing it is working pretty well.

[BadAtProgramming]

Would you be willing to share the CAD for the zeroing block?

[BJT]

All five of our MK 4C kits came with a 14 tooth Kraken pinion gear Instead of the 16 tooth.A friend of ours on another team said that his did too. We got them from Andy Mark. We plan on calling Andy Mark on Monday to check on what to do about it

[NathanNFM]

Hi Ben,

Sorry about that, we found the issue on our end and fixed it moving forward. We will be reaching out to the handful of affected customers and sending replacement pinions soon.