So over the past two months I’ve been designing a swerve drive for our team that combines Team 2767’s Third Coast Swerve Module and Team 1640’s CVT Swerve Module. Another aim of the design was to minimize the number of customized parts required.
Most of the main module is similar to the Third Coast Module, with the exception of the azimuth pulley, which is now a Vex VersaPulley in the 9mm configuration.
Where the drive shaft is driven in the Third Coast drive, there is a slightly modified version of 1640’s CVT mechanism. One of the main differences is that the flanges that push the V-Belt together are not 3D printed, but are Flat Belt Idler pulleys from McMaster. The Fractional Horsepower Pulley is also a slightly different model from Torque Transmission.
Both the Azimuth and the Drive are powered by NEO motors, although an adapter is required for the drive.
A total of 10 parts need to be manufactured/machined:
- Pivot Hub
- Mounting Hub
- 2x Tensioning Arms
- Tensioning Rod
- Servo Mount
- 2x tensioning Pulley Shafts
- NEO Shaft Adapter
Any and all feedback is welcome! This was my first major design project, so feel free to suggest any changes, ask questions, or anything else really. If you have any feedback on how I can improve my CADing skills that’d be great too, since I taught myself and I’ve definitely missed something.
Here’s some pictures of the models (Please excuse the NEO wires):