Difference between revisions of "DEWBOT XVIII Drive-Train"
From DEW Robotics
MaiKangWei (talk | contribs) |
MaiKangWei (talk | contribs) |
||
Line 14: | Line 14: | ||
Key 2023 changes were: | Key 2023 changes were: | ||
− | # | + | # 4" VexPro Traction Wheels (217-2588) replaced the 4" 80A durometer AndyMary HiGrip wheels (am-2256) we had used since 2013. We like the HiGrips and they're light, but they wear out and replacements require machining before use. The VexPro Traction wheels are used as-is and use a replaceable tread (which 1640 prints). |
− | # | + | # For the first time, the steering angle is measured directly rather than by proxy. |
− | # | + | # The module is now frame-corner mounted. |
<gallery widths=250 heights=250 perrow=3> | <gallery widths=250 heights=250 perrow=3> |
Revision as of 22:15, 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); and
- 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:
- 4" VexPro Traction Wheels (217-2588) replaced the 4" 80A durometer AndyMary HiGrip wheels (am-2256) we had used since 2013. We like the HiGrips and they're light, but they wear out and replacements require machining before use. The VexPro Traction wheels are used as-is and use a replaceable tread (which 1640 prints).
- For the first time, the steering angle is measured directly rather than by proxy.
- The module is now frame-corner mounted.