Difference between revisions of "DEWBOT XVIII Drive-Train"
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Balanced against this: | Balanced against this: | ||
* Some teams using COTS swerves in 2022 experienced supply-chain delays with spare parts (we can manufacture our spare parts); | * Some teams using COTS swerves in 2022 experienced supply-chain delays with spare parts (we can manufacture our spare parts); | ||
| − | * | + | * Designing & building the swerve modules provide a great education for our students; |
* 1640's swerve is very light-weight (4.8 lb); and | * 1640's swerve is very light-weight (4.8 lb); and | ||
* We are very comfortable with our swerve's performance. | * We are very comfortable with our swerve's performance. | ||
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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. | + | # 4" VexPro Traction Wheels (217-2588) replaced the 4" 80A durometer AndyMary HiGrip wheels (am-2256) we had used since 2013. The HiGrips perform well, are economical and they're light, but they wear out and replacements require a lot of machining before they can be used. The VexPro Traction wheels are used as-is and we employ a replaceable tread (which 1640 prints to a HiGrip tread pattern using Priline Assure 95A Urethane). The new wheels and treads were tested at Ramp Riot and found reliable with acceptable wear rates. |
# Used BI-6127v1a360fs repaced with Calt encoder same cost double ball bearing 10-12bit encoder | # Used BI-6127v1a360fs repaced with Calt encoder same cost double ball bearing 10-12bit encoder | ||
# replaced 15 & 29t AM drive gears bought pinion stock 15T bored to 8mm and broached major time and cost savings and a much better solution - 29t broached ourselved for tight fit on thunder hex shaft. | # replaced 15 & 29t AM drive gears bought pinion stock 15T bored to 8mm and broached major time and cost savings and a much better solution - 29t broached ourselved for tight fit on thunder hex shaft. | ||
Revision as of 02:24, 28 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);
- Designing & building the swerve modules provide a great education for our students;
- 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. The HiGrips perform well, are economical and they're light, but they wear out and replacements require a lot of machining before they can be used. The VexPro Traction wheels are used as-is and we employ a replaceable tread (which 1640 prints to a HiGrip tread pattern using Priline Assure 95A Urethane). The new wheels and treads were tested at Ramp Riot and found reliable with acceptable wear rates.
- Used BI-6127v1a360fs repaced with Calt encoder same cost double ball bearing 10-12bit encoder
- replaced 15 & 29t AM drive gears bought pinion stock 15T bored to 8mm and broached major time and cost savings and a much better solution - 29t broached ourselved for tight fit on thunder hex shaft.
- polycarbonate top plate - changed supplier to full .250 thk better faster.
- 11t timing belt pulley had purchased from si/sdp - prone to cracking during broaching. eliminated a stage of reduction. htd5. 6t-48t stage 1 - hard sure 75d Ninjateck armadillo PU very tough filiment. Changed to 1 piece gear pulley.2 stage with nEO 550. 1100 rpm. 6:48 * 11:60 .ack of commercially available 11t pulley was the motivation.
- G10 bottom plate
