Off Season Swerve Drive V1 (Chainsaw Swerve)

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During the 2018 off-season, Team 6635 devoted significant time developing multiple designs for FRC swerve drives using 3D printing technology. Despite referring to this particular design as V1, all of our prototypes were simultaneously underway, indicating that it was no more outdated than any other iteration we introduced. Specifically designed for the 2019 practice bot chassis, this swerve drive prioritized ease of maintenance and a low profile appearance. Consequently, we sought a mounting system that utilized a single plate and an inverted motor configuration. While simplicity made production easier, reduced ground clearance rendered it ill-equipped to handle terrain challenges. Nevertheless, after rigorous testing, our team concluded that it could withstand FRC competition conditions, especially given its use on a lightweight robot. However, occasional snagging of the pivot motor chain loop did impede smooth performance during curved maneuvers.