- Built
- Summer 2024
- Material
- Billet aluminum & carbon fiber
- CAD
- Onshape
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Why swerve
A swerve drive includes an extra degree of motion compared to standard holonomic drivetrains. This extra rotation allows each module to steer independently, letting the robot move in any direction while holding its heading. In FIRST Tech Challenge it is very uncommon, because a mecanum wheel can do many of the same tasks without the extra complexity. But because a mecanum wheel needs rollers to create force vectors in the lateral direction, it creates slippage and has less traction than a fully optimized swerve drive can achieve.
The design
Each module includes a fully custom 5-axis CNC aluminum core pressed into an X-contact bearing to support smooth rotation. The gear ratio is highly tuned to minimize the coaxial effect (a force applied on the servo that is caused by the slight rotation of the wheel as it changes direction), as well as to move the robot at up to 6 feet per second.
What I shared
Working openly with another FTC team in Arizona and sharing the CAD process with the community, this project worked not only to conquer an extremely difficult challenge but also to spread an iterative and innovative design approach to even the most core and standard component of an FTC robot: the drivetrain.