I’m currently looking to design a Vex swerve drive chassis in my spare time. I want to be able to play with the programming of the system and see what I can do with it. It’ll use the Vex swerve module kits.
Has anyone done this before? Does anyone have any example systems I can look at for inspiration?
I’ll keep this thread updated with my design progress as time goes along.
Some ideas in this thread.
Still never got around to building it – it got bumped down on my “to do” list.
Our ex-254E captain built this little guy after the 2009 World Championship. I think it ran 1:3 on 2.75" wheels (custom swerve modules, not the VEX ones). The chain over the top is geared 48:10 from one motor.
We didn’t leave it around for long, but it was a blast to drive even with the makeshift code I loaded on it.
Look here : http://wiki.team1640.com/index.php?title=Team_1640_2009_Summer_Program
and here : http://wiki.team1640.com/index.php?title=4-Wheel_Pivot_Drive
for ideas. The FRC team prototyped the system in VEX before they built it.
You can also look at: [http://wiki.team1640.com/index.php?title=Twitch for a different drive train style.](http://wiki.team1640.com/index.php?title=Twitch for a different drive train style.)
and here : http://wiki.team1640.com/index.php?title=4-Wheel_Pivot_Drive
for ideas. The FRC team prototyped the system in VEX before they built it.
You can also look at: http://wiki.team1640.com/index.php?title=Twitch for a different drive train style.
Foster - Thanks so much for the links - I saw 1565’s youtube video of their FRC twitch (using ominwheels) during the Overdrive season and I have searched in vain for it since.
Now I finally have a good view (from the FRC 1640 page (http://wiki.team1640.com/index.php?title=Twitch) that includes the Vex prototype) (and from the final FRC design http://www.chiefdelphi.com/media/photos/30720) of the linkages they used to get the wheels to pivot in unison.
See some video here: [http://www.youtube.com/watch?v=RvN4K2ieR5g&feature=related - Vex should include a link to the video in their Lazy Susan announcement (assuming they offer one small enough for a swerve wheel mount) - I’ll bet it would double their sales.
Blake](http://www.youtube.com/watch?v=RvN4K2ieR5g&feature=related - Vex should include a link to the video in their Lazy Susan announcement (assuming they offer one small enough for a swerve wheel mount) - I’ll bet it would double their sales.)
Thanks for the links. I have a lot of rough design constraints in my head that are making me think pretty hard about what I want to build. I want a system that doesn’t require me buying too many new parts, doesn’t require me to cut metal that much, and is well supported. This is a bit easier said than done.
Mainly, the chassis and mount design is tricky. I tried fitting an ultra compact design under a Squarebot chassis to little success. I could use longer pieces… I’m also trying to figure out how to attach sensors to the modules, whether to run a shaft or bolt for module support, and other concerns. It’s an interesting brainstorming process.
Ooo! I’ve played a lot with vex swerve Ideas. I’ll help you out. 
I took a few pictures of my module. The top two plates spin freely as if they were part of the chassis with the module spinning underneath. I think the one thing I was able to overcome was wobbly modules. I used the Circular plate with 5 holes to keep it stable. Took me forever to figure out how vex intended us to use them. =)
I don’t like how Vex stripped out the bevel gears from the swerve kit. Making a swerve drive with directly driving the motors takes up way to much room. Yea using bevels and powering the motors from the pivot point is more complicated, but its more rewarding.
http://img855.imageshack.us/img855/7825/0330011653.jpg
http://img855.imageshack.us/img855/9366/0328012251.jpg
http://img859.imageshack.us/img859/5120/0330011652.jpg
Like many, I have not had the time to put all my modules together on a frame and program it. Let me know if you get this thing to work.
Hope my pictures help.
good luck getting that to work nicely.
Ooo! I see Fruit Snacks!
Back on topic – those are the old Swerve Drive modules, correct? I believe the new ones do not come with the metal washer-like pieces. (here)
Which set do you have, Chris?
~Jordan
Don’t have any yet - doing full CAD before I buy.
There are usually a bunch of new products introduced at Worlds.
If schedule is not an issue, you could wait until after Worlds to see if there are any new products that could be used as parts sources.
If you attend Worlds, it is a good place to buy new or existing parts, to save shipping.
Lazy Susan turntables!?!?!?
With holes in the middle and gear teeth around the outside?
In Tiny, Small, Medium, Large and Extra Large sizes???
Sold individually and in bundles???
Fingers are crossed.
Blake