Sehome Swerve Drive 2

thingiverse

This streamlined swerve drive, purpose-built for FRC competition, is a remarkably lightweight yet simplified version of my earlier swerve drive (https://www.thingiverse.com/thing:1135618). It is almost entirely 3D printable and boasts an integrated low-profile steering bearing that utilizes 6mm Airsoft pellets as high-performance bearing balls. The system also leverages a twisted timing belt to simplify the mechanics.\r\n\r\nIt's essential to note that this design is specifically tailored for very lightweight robots - I wouldn't recommend exceeding a total weight per wheel of more than 20 lb or so. (The swerve unit itself weighs approximately 5 lbs.) This design is also engineered to be extremely fast, reaching speeds of up to 20ft/sec! The wheel tread should provide sufficient grip for rapid acceleration, but it won't excel in push wars. In fact, if the tread becomes too grippy, you risk damaging components during a collision (rather than the wheels simply sliding on the carpet).\r\n\r\nAlso note: This design has undergone very preliminary testing so far. As we conduct more rigorous and abusive testing, I'll post those results here.\r\n\r\n*UPDATE:* We've successfully hooked it up and driven it around a bit. Everything is functioning smoothly thus far. Next up is implementing our full swerve drive control system so that we can really put it to the test!