FRC team 6635 Tri-bot Prototype Chassis

grabcad

This is a variation of a Co-axial Swerve Drive chassis for FRC use that uses an un-conventional 3 wheeled system instead of the typical 4 wheels. Alongside the development of our team's Swerve drive development, we have began to investigate different methods of mounting our modules to a robot. One of these is in the Tri-bot orientation. A Tri-bot robot has several major advantages over a typical 3 wheeled robot, most importantly, the use of two less motors than what is required for a 4 wheeled swerve. This means that it is feasible to control this chassis using PWM instead of CAN, while still having enough PWM outputs to control different actuators necessary for game devices. As stated with our test swerve drive module, this design is not durable enough for FRC use and was made purely to investigate the kinematics of a 3 wheeled swerve drive. *Note, this design used Tetrix Torquenado motors for the steering system, which are not legal for the 2019 FRC season. Andymark Neverest 60 gearmotors are a suitable replacement for this design, but we do not currently possess any of these motors.