2020 Summer? Swerve

grabcad

This is the latest iteration of the swerve drive module that I have been working on over the past few years, and it's a major upgrade from previous versions. Check out this thread for more information on those iterations. Overall, this new iteration has continued to get even smaller and lighter. To achieve this, I've used a Neo550 for the steering with a single stage UltraPlanetary gearbox on it. This has helped further reduce the size and weight of the module. Some key specs for the module include: Full footprint from edge of frame: 4" width x 5" length x ~7.4" height Distance of wheel from edge of frame for wheel base: 2" from both sides of frame Full weight: ~3.45lbs (SW Mass Properties, all parts either have assigned weight based on COTS reported weight, or correct material applied; printed parts have estimated weight from Eiger assigned) The drive ratio is a 20:40 bevel gear ratio, with a first spur stage off the motor of 10/11/12:28. Optional ratios of 9:30 and 13/14:26 are also available. Here are some key drive speeds (free speed): 12.16fps (09:30 first stage) 13.27fps (10:28 first stage) 14.59fps (11:28 first stage) 15.92fps (12:28 first stage) 18.57fps (13:26 first stage) 20.03fps (14:26 first stage) The steering ratio is a 5:1 (5.23:1 actual) UltraPlanetary Gearbox, followed by a 16:86 GT2 belt stage. Overall ratio of 28.1:1, ~391rpm free speed. Steering position is determined using a Lamprey Encoder mounted to the top of the pod. Local control to get to position can be done using the encoder on the n550. The module is symmetrical, allowing for same parts to be made for left and right hand modules. It's also set up so that it can easily be mounted for either a standard frame or for a frame with a bumper/frame cutout. I will have another version posted tomorrow that has the drive motor flipped and the steering motor lowered. This new version will be ~5.5" x 5.5", while being only 6" tall, so there is an option to fit under the bumper height. This new version will weigh around 4lbs.