Differential Swerve Demonstration

Quick demonstration of the design concepts of a differential swerve drive. This model was used temporarily in the 2020 FTC Sky Stone season, before it was succeeded by a version using GoBilda.
11347 The CircuitRunners - Black

[@austinlee9291]

I’ve attempted this assembly in Inventor but couldn’t get the constraints quite right. Very impressive

[@melvinandangelemail]

Hey egan this is Angel I dont know if you remember me from middle school but i just wanted to see how things are after i saw your channel in my subscribers

[@Lehuy045]

I don't understand this structure. The upper and lower gears both rotate at the same time as the wheel rotates. so how to rotate the module? I am thinking about having 1 gear rotate and 1 must be stationary.

[@judahb5161]

Firstly, the module itself doesn't rotate, but the wheel does. When the two outer gears (racks) rotate at the same speed, the wheel will rotate with them because the axle is supported by both of them. If the racks are rotating at different speeds, then the wheel will still rotate because it will rotate with the faster rack. If both racks rotate at the same speed but opposite direction, then the wheel won't rotate but the speed of the wheel will still be determined by the speed of the racks. The speed of the wheel is determined by the average of the speed of the two racks. There's a chance I got some minor details wrong, but that's the main concept.

[@rachelheroux5131]

Nice swerve! I was wondering which V-Groove bearing you use in your cad?

[@lukwarm]

We used rev v groove bearings, however they don't take thrust loads very well, making them less ideal for this application. A better design would use gobilda v groove bearings, as they have 2 inner races and take thrust loads much better

[@yairratner2187]

Can you send a link to the CAD file?

[@wfpnknw32]

nice work, although i think it's easier to explain the turning by just locking or grounding (dont use inventor) and then turning the top or bottom one to show the wheel turning.

[@mclovin1964]

Woe is me

[@Lehuy045]

How to manufacturing the gear?

[@chargehanger]

with metal.

[@judahb5161]

Most people purchase pre-designed gears from a vendor and base their design around what is available through purchase. It can also be created using a CNC milling machine, but it's pretty hard to do, and you'd have to design your own gears as well which takes more time. 3D printing is also viable, but not if you're using it on an application which requires precision or competitive use. The filament would also wear pretty quickly.

[@amrendramandal8695]

Can you share link 🔗 of this project. I need it plizz.

[@driftxp4]

Very cool

[@es2910]

Interesting

[@satriahanifrofi9798]

Anjay

[@austinsus13194A]

Is there a way to control this with one motor?

[@MagnusGaunt]

there isn't a way, you could use 2 sevos but I assume that isn't what you want.

[@mihailazar2487]

@@MagnusGaunt one motor and one servo would be possible

[@MagnusGaunt]

@@mihailazar2487 then your speed and power would be limited by the servo

[@mihailazar2487]

@@MagnusGaunt implying that you use the motor for the rotation of the wheel about its' axis and the servo for the revolution of the wheel about the robot's Z axis

[@MagnusGaunt]

@@mihailazar2487 that’s a swerve drive, not a differential swerve drive.

[@soamazing7027]

💚💚"Great Video!"💚💚 (Jesimiel Millar Fernåndez)💙💙 2M695 😍💕 psyCHE!