Independent Coaxial Swerve Drive

grabcad

This is an Independent, Coaxial Swerve Drive. The name may sound complicated, but it can be easily broken down. Independent simply means that each corner module contains all that is needed to drive and rotate each wheel. "Driven" swerves, on the contrary, have chain running between each module (see 1717 pre 2012 or 118 swerve, http://www.team221.com/upload/713-f4.jpg). Coaxial refers to the power transmission. Because we don't want to rotate the CIM with the wheel, it is necessary to translate the power transmission to the pivot point. Doing this requires miter-gears (gears at 90deg angles http://www.monarchbearing.com/images/miter-gears.gif). If you have further questions regarding the mechanics behind a swerve module, please ask me and I would be happy to explain. For an overview of the rotating module, see our Rev_A here: http://msedesign.net/images/stories/example_CAD/swerve_assemblydwg.png