Team 1927's swerve module

Technical Technical Discussion
1

if u would like a more detailed drawing i would be happy to provide

http://i141.photobucket.com/albums/r48/chadk91/swervewheel.jpg

This is team 1927’s Swerve Module from 2009

  The top sprocket is the drive sprocket, and runs all the way through the module. The second sprocket is the steering sprocket and is connected directly to the module. 

  The module is hooked to the bot by a bearing with a flange witch sits under the steering sprocket (further details are available if needed or wanted)

   There were four of these modules on our 2009 robot. The left and right side were individually powered, with 2.5" cim motors running through dewalt transmissions, and the front and back were individually steered. This setup allowed us to have 4 different drive modes: 1. TANK- no steering/ left and right individually powered 2. ACKERMAN- front is steered / left and right individually powered 3. DENALI- front and back individually steered with left and right individually powered 4. CRAB- front and back steered together and left and right powered together

PLEASE leave comments

2

Thanks for sharing!

How were you planning on supporting these modules? It looks like you are using 6 inch wheels. Just know that if you plan on using non-rover wheels in the future, you may want to consider supporting the modules from the top and bottom in order to protect against the significant lateral forces the wheel will experience.

3

this was specifically made for this years bot next years will be made using 3" wheels and will be drastically reduced in size