My team is designing a swerve module this offseason for use (hopefully) during the 2020 season, and this is the first iteration we’ve come up with. We wanted it to be compact, reasonably lightweight, robust, and integrate easily with a 2x1 chassis frame, while not sacrificing any power. The design was pretty heavily inspired by 33 and 2910’s modules. Most of the parts will be 3D printed on a Markforged printer.
Some basic info:
-14.4 ft/sec free speed using a NEO on a 6:1 ratio (24:60 GT3 pulleys, 30:18 20DP VEX gears, 30:120 bevel gear set from SDP-SI)
-Rotation is controlled by a 775pro (10:1 VersaPlanetary reduction. 16:78 20DP VEX gears, 96:96 GT3 pulleys). We chose a 775 over a NEO because it’s easier to implement PID control with CTRE’s existing libraries
-US Digital MA3 encoder geared 1:1 with the module’s steering
-Approximately 2.5 inches of ground clearance
-7.5 inches by 8.25 inches
-Approximately 10.5 inches from the ground to the top of the 775
The design still isn’t completely finished, (still needs nuts and bolts; and the plates/pulleys need to be pocketed). Please feel free to leave any suggestions.
GrabCAD link: https://grabcad.com/library/team-694-swerve-module-1