FRC Team 6635 Off Season Swerve Drive V3

grabcad

This is the third 3D printed swerve drive design developed by team 6635.This swerve drive design is the first heavily specialized swerve drive design that our team has created. The primary intention of this swerve drive is to have the ability to exert significant amounts of force (push other bots around) and to have a higher durability than our other swerve drive designs. For this design, we opted to utilize a 2" diameter wheel instead of the typical 3" wheels that we use for our other swerve drives. Also, we decided that the best way to improve our design's durability was to reduce the height of the module. We did this by putting the wheel on the same axle as the bevel gear, offsetting the wheel as a result. Despite the concern that we had over the wheel offset, we have observed its effects to be negligible as long as appropriate modifications to the code are made, such as a gyroscope dependency during autonomous to ensure that the robot doesn't pivot.