I am from Team 955 and this year we have decided to attempt swerve drive in the offseason. It will not be super fast, as we are really just trying to do a proof of concept and show that we are capable of creating it. The plan is that it will be coaxial and use two miniCIMs. Ideally, both motors would be static. (We want to make wiring easier and less likely to break). We will transfer rotation to the wheel by having a shaft turn a 90 degree bevel gear setup and having that turn the wheel. The module will be attached to a versa pulley which will rotate on the shaft, independently from the wheel turning itself. The entire module will be swiveled by a separate pulley that will run to the large versa pulley. The module will be held steady by running the shaft through two 1/2 inch hex bearings, and the versa pulley will be below both.
Looking at other designs, we have noticed that most other coaxial swerves are able to swivel the module from a pulley or sprocket that is above the supporting plates and bearings, but we are struggling to determine how this is done. We realize that with that setup, the entire module would be more compact and efficient. If anyone here has ideas or explanations on how it can be done, we would greatly appreciate it.
Another question we have is about the swiveling of the module. With some prototypes, we have noticed that when you swivel it, the wheel also turns (some of the force is transferred to the turning of the wheel). Would this be a problem when you are turning the swerve base and the wheels are pointing in different directions? If so, how can this be avoided?
Thank you in advance for your help!