Suspension capable coaxial swerve drive (FRC Team 2903)

grabcad

The Neobots are thrilled to unveil our inaugural public swerve drive design. Our IP-S NSD MkVI-C (Internally Powered Suspended Neo Swerve Drive Mk VI -Block C) is a coaxial swerve drive engineered to deliver several groundbreaking features never before seen in previous modules, including a sub-10-second toolless wheel cartridge swap system, effortless suspension mounting, and an accessibility-focused pin mounting system. Quick Swap: Our revolutionary swerve module system enables seamless maintenance and troubleshooting with multiple wheel "cartridge" designs (High-Speed Cartridge, Tank Cartridge) on the horizon for increased flexibility on the field. This system operates through a spring card retainer mechanism and four retaining pins mounted on each wheel cartridge. By depressing a lever on the side of the module, this spring card is displaced, releasing the pins and allowing the old module to be removed. New modules are simply inserted into the slot in the carriage, where they latch onto the spring card automatically. Suspension Capability: With the addition of four small springs/rubber dampers (in conjunction with lengthened 10-32 mounting pins and driveshaft), this module can mount a basic suspension, allowing it to absorb drops and shocks with ease. Pin Mounting System: The shortened frame extrusion pieces in our CAD model are not shortened to minimize size. Instead, frame extrusion is intended to be cut to just two inches outside the perimeter of the module to accommodate a pin and gusset-based mounting solution. Rather than directly bolting each module to the robot, 2.5" pins are inserted through gussets into the holes in the top of the frame extrusion of the module. To facilitate easy removal, all electrical connections to and from the module run through a 3D printed Junction bracket with quick disconnects for all cables, allowing each module of the drivebase to be completely removed and improving serviceability. Specs: Defense Cartridge: Free Speed: 9.03 fps Push Force (four modules): 192.93 lbs Weight: 8.63 lbs/module High-Speed/Offense Cartridge: Free Speed: 15.18 fps Push Force (four modules): 114.8 lbs Weight: 8.62 lbs/module Additional Info: The BoM is attached as a .xlsx for interested teams, including links to parts and prices. Several jigs and supplemental documentation (slightly outdated) are also included. Code to Operate this drivebase (WIP) can be found at: https://github.com/neobots2903/SwerveDriveFRC If you have any questions, don't hesitate to ask. Thank you for your time - FRC Team 2903: CAD Division