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Swerve & Steer Module (am-3009)

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Price: $325.00

Stock Status: In Stock

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Product Overview:
As of Summer 2016, ready for the 2017 FRC build season the Swerve and Steer module has had a number of improvements. The absolute encoder, am-3308 now has mounting locations to give a 1:1 gear ratio to the module via the 40 tooth encoder gear for easier software control. Additionally the 12 tooth CIM pinion/drive shaft now has a wider slot to allow for a 2mm key to lock the shaft to the motor.

The Swerve and Steer module is an all-in-one swerve gearbox AND steering module. The wheel propulsion is powered by a CIM Motor, while the steering torque is managed by a PG71 gearmotor. Both of these motors are mounted to a main motor plate, which can easily be mounted to extrusion frame or other structure.

The PG71 has an encoder on the back side of the 775 motor, which can help keep track of the steering location. In order to use this method of closed-loop encoder tracking, use a 3/16" allen wrench to ensure that the motor plate, bearing plate, and gear late are all aligned before operation. Alternatively, there is a location to mount an absolute encoder (this absolute is not included). Both motors are included in the low price. This module is shipped fully assembled.

Drive Gearing & Ratio:
  • 12 tooth spur gear is driven by CIM Motor
  • 40 tooth spur gear is driven by 12 tooth gear
  • 20 tooth bevel gear is co-axial with and driven by 40 tooth gear
  • 40 tooth bevel gear is driven by 20 tooth bevel gear
  • 4" HiGrip Wheel is co-axial with and driven by the 40 tooth bevel gear
  • Overall Gear Ratio: 6.67:1
Drive Speed:
  • 660 rpm
  • 11.5 ft/sec (using the included 4" HiGrip wheel)
Steer Gearing & Ratio:
  • 48 tooth spur gear is driven by PG71 gearmotor
  • 40 tooth spur gear is driven by 48 tooth gear
  • Lower portion of module pivots directly with the 40 tooth gear
  • Overall Gear Ratio: 1:1.2 (over-driven)
  • Steer Speed: 90 rpm
Steering control:
Motors Included:
  • 1 CIM motor for Driving
  • 1 PG71 for Steering
Programming:
Team 1640 has some example code for driving a swerve system. Their Cheif Delphi post can be found here, https://www.chiefdelphi.com/media/papers/2704. The Library and explination can be downloaded here, http://files.andymark.com/FRC1640_2011_PivotDriveLibrary.zip

Specs:
  • Mount Plate Length: 6.5"
  • Mount Plate Width: 5.5"
  • Overall Height: 12.04"
  • Weight: 9.4 Pounds

Average Customer Review: 4.5 of 5 Total Reviews: 2 Write your own review!

  0 of 0 people found the following review helpful:
 
Almost perfect September 5, 2017
Reviewer: Andrew Schueler from  
I have purchased 3 of these modules and the biggest issue is the machine key that holds the PG71 to the pivot gear. One module has a key that was manufactured too long and skinny so the retainer ring didn't fit well. As a result, the retainer ring was missing a tooth that should have kept the machine key in. This allows the wheel to rotate +- 5 degrees without motor input. A better QC job is what I would recommend. Otherwise, the other 2 modules came with proper length machine keys and are tight and don't allow unwanted rotation. The swerve module is generally a great product.

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  1 of 1 people found the following review helpful:
 
Big robot? Just the thing! September 15, 2015
Reviewer: Joseph Bockholt from Lockport, IL United States  
This is one of THE HIGHEST QUALITY and MOST COMPLETE AND CONVENIENT parts I have EVER PURCHASED in my 25 YEARS of robotics experience!
I cannot STRESS THIS ENOUGH!
It will make your next robot build a JOY!
Worth EVERY PENNY. Period.
And Customer Service and support are BAR NONE.
Shop here. Buy here. Support this company.


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