Team 3737, the Roto Raptors, are pleased to announce the release of our first swerve drive system called DinoSwerve.
See our first test:
Details of the CAD, BOM and code here:
SPECIFICATIONS AND FEATURES
- Net weight: 3.9 lbs without controllers and motor guard
- Gross weight: TBD lbs with motor controllers and guard
- Low center of gravity
- Height: 8.75” with controllers and motor guard
- Motors: 2 brushless NEO motors with SparkMax controllers
- Controllers are mounted within envelope of mechanical swerve assembly, effectively de-populating main electrical board of eight controllers.
- Steering motors are powered by 20 amp PDB terminals leaving four 40 amp terminals free for other devices.
- CAN bus controlled for simple wiring
- Utilizes integrated NEO encoder in steering motor rather than a separate absolute encoder and complex additional gearing. A simple low cost magnet and hall-effect sensor in conjunction with the NEO encoder provides accurate and repeatable wheel direction.
- Low cost Delrin balls used for turntable vs high cost bearing.
- Integrated but optional Lexan motor guard
- Three plane fixing for rigid mounting in chassis
- Extensive use of grade 12.9 socket head screws
- Extensive use of Nylock nuts
- Designed be mounted at various heights within a chassis
- All swerve assemblies are identical and may be placed at any corner
- Three speeds are possible by swapping just two gears (10.06 ft/s, 11.7 ft/s, 13.69ft/s free speed)
- Each assembly is identified and configured entirely in code (controller I.D number and rotational offset)
- Independent adjustment of bevel gear and turntable height
- All moving parts are visible for inspection and lubrication without any disassembly
- All gears are accessible and replaceable by removing four fasteners (except 94T gear) making speed change or maintenance quick and easy.
- All parts are accessible and removable without removing complete swerve assembly from chassis
- Complete swerve assembly can be quickly removed from chassis
- Rapid and simple wheel replacement
- All controller ports are visible and easily accessible
- Almost all fasteners use #10-32 threads for common nuts and tools.
- Extensive use of socket button head screws for clean appearance
- Certain custom parts manufacturable without use of a mill through inventive use of waterjet and fasteners.
- Turntable bearing made from alternate ¼” and 3/16” diameter balls to simulate a ‘race’ (preventing adjacent balls from opposing rotation while touching each other)
- Common gear sizes for simplified spares inventory
- Rotation sensor implemented with no extra moving parts (hall effect and magnet)
Questions are welcome.