Swerve drive design

Should a swerve drive frame work best square or can it be rectangular?

It can be rectangular, or a triangle, or an irregular pentagon, doesn’t matter. The kinematics change slightly with the new x/y locations but the idea is the same. What you want is RIGID and FLAT. ideally you don’t want any wheels coming off of the carpet, yet another reason for LOW center of gravity.

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If 2481 can make this asymmetric pentagon work, then any rectangle will be fine.


Square is done by many teams because that means you won’t have an unstable side, but a slightly rectangular robot should be fine.

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