This is team 2079's swerve design for 2009. The significant feature is that the modules are cylindrical. There are main advantages to this. 1. A cog belt pattern is machined into the top of the module to avoid the coplexity of attaching a sprocket to the top. 2. The modules, that are squeezed between 2 delrin plates act as their own bearings, which saves the extra piece of adding a bearing plate onto a traditional non-cylindrical module. The way these two main advantages work is that they combine the function of three different parts into one, which saves weight and makes the entire system more robust. The modules are fixed in the frame in such a way that they can be easily swapped out for another in a about 2 minutes. The shell of the module weighs 1.3 pounds and with everything on it it weighs about 8.5 pounds. The front modules are steered together, and the back are steered together, leaving many options as to how the driver can operate the drivetrain. The CIM motor is mounted to the top, with a 3:1 reduction in the BaneBots planetary gearbox, then a 3:1 reduction in the right angle gearbox, then a 2:1 in the sprocket going from the right angle drive to the wheel. The modules have the ability to turn over 720 degrees, but software limits them to a little over 180. Hall effect sensors are used to find the location of the wheels when steering.
Below are pictures of the drivetrain.
Module put together with all components.
Back steering path
Front module resting between its bearing plates
Close up of cog belt and how it interfaces with the module itself
Close up of steering center where window motors steer front and back indepedently of each other.
This is team 2079's swerve design for 2009. The significant feature is that the modules are cylindrical. There are main advantages to this. 1. A cog belt pattern is machined into the top of the module to avoid the coplexity of attaching a sprocket to the top. 2. The modules, that are squeezed between 2 delrin plates act as their own bearings, which saves the extra piece of adding a bearing plate onto a traditional non-cylindrical module. The way these two main advantages work is that they combine the function of three different parts into one, which saves weight and makes the entire system more robust. The modules are fixed in the frame in such a way that they can be easily swapped out for another in a about 2 minutes. The shell of the module weighs 1.3 pounds and with everything on it it weighs about 8.5 pounds. The front modules are steered together, and the back are steered together, leaving many options as to how the driver can operate the drivetrain. The CIM motor is mounted to the top, with a 3:1 reduction in the BaneBots planetary gearbox, then a 3:1 reduction in the right angle gearbox, then a 2:1 in the sprocket going from the right angle drive to the wheel. The modules have the ability to turn over 720 degrees, but software limits them to a little over 180. Hall effect sensors are used to find the location of the wheels when steering.
Below are pictures of the drivetrain.
Module put together with all components.
Back steering path
Front module resting between its bearing plates
Close up of cog belt and how it interfaces with the module itself
Close up of steering center where window motors steer front and back indepedently of each other.
Picture of front steering path
Back steeing path
Module frame
Module frame again
Inside of module