Difference between revisions of "DEWBOT XVIII Drive-Train"
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Key 2023 changes were: | Key 2023 changes were: | ||
− | #) | + | #) the 4" 80 durometer AndyMary HiGrip wheelsThe drive transmission was simplified and reduced to 2-stages by relocating the NEO axis to the swerve rotational axis. |
#) For the first time, the steering angle is measured directly rather than by proxy. | #) For the first time, the steering angle is measured directly rather than by proxy. | ||
#) The module is now frame-corner mounted. | #) The module is now frame-corner mounted. |
Revision as of 21:17, 27 February 2023
1640's Swerve history dates back to 2009 and all of our Robots from 2010 up to now (excluding 2016 - Stronghold_ have been swerve robots. We've always made our own kit and originally our swerve focus made us unique. But the world has changed. A number of excellent COTS swerve drive systems are now available to FRC teams and swerve has become a common feature.So this year, for the first time ever, team Sab-BOT-age had to go through a make-versus-buy analysis. Using a COTS swerve module provides some very compelling benefits:
- COTS may be purchased ahead of the start of Build Season; and
- COTS may be reused.
Balanced against this:
- Some teams using COTS swerves in 2022 experienced supply-chain delays with spare parts (we can manufacture our spare parts);
- 1640's swerve is very light-weight (4.8 lb)
- We are very comfortable with our swerve's performance.
The result of our make-versus-buy analysis was the decision to build our own modules again in 2023. But we'll go through this analysis again next fall.
Sab-BOT-age's 2023 swerve design was developed from the post- Hatboro 2022 design. Improvements focused on ease-of-manufacture, ease-of-service, and survivability.
Key 2023 changes were:
- ) the 4" 80 durometer AndyMary HiGrip wheelsThe drive transmission was simplified and reduced to 2-stages by relocating the NEO axis to the swerve rotational axis.
- ) For the first time, the steering angle is measured directly rather than by proxy.
- ) The module is now frame-corner mounted.