Difference between revisions of "DEWBOT XVIII Drive-Train"
From DEW Robotics
MaiKangWei (talk | contribs) |
MaiKangWei (talk | contribs) |
||
| Line 1: | Line 1: | ||
| − | [[image:2023SwerveModule.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-12.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-13.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-19.jpg|upright=1.1|right|frameless]]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. | + | [[image:2023SwerveModule.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-12.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-13.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-16.jpg|upright=1.1|right|frameless]][[image:DB18_w7_20230225-19.jpg|upright=1.1|right|frameless]]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: | 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: | ||
| Line 22: | Line 22: | ||
image:DB18_w7_20230225-14.jpg| | image:DB18_w7_20230225-14.jpg| | ||
image:DB18_w7_20230225-15.jpg| | image:DB18_w7_20230225-15.jpg| | ||
| − | |||
image:DB18_w7_20230225-17.jpg| | image:DB18_w7_20230225-17.jpg| | ||
image:DB18_w7_20230225-18.jpg| | image:DB18_w7_20230225-18.jpg| | ||
Revision as of 21:14, 27 February 2023
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 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.
