Swerve & Steer Module (am-3009)

Home > Gearboxes > Single Speed Gearboxes >

REV Robotics Extrusion Not Included

Alternative Views:

Price: $325.00

Estimated Back In Stock on: Jan 31, 2017

Stock Status:(Out of Stock)

Availability: Usually Ships in 1 to 2 Business Days

Qty:

>>Email when Available

Info

Downloads

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, this allows 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 plate 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

Steer Speed:

90 rpm

Steering control:

A hall effect encoder is included on the PG71
An optional absolute encoder could be added to this assembly using this 40 tooth Encoder Gear. The encoder we suggest is MA3-A10-250-N Absolute Encoder (am-2899).

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"
Total Height: 12.04"
Weight: 9.4 Lbs

Average Customer Review:

5 of 5 Total Reviews: 1 Write your own review!

0 of 0 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.

Was this review helpful to you?

Browse products in the same categories:

Gearboxes > Single Speed Gearboxes
Browse ALL Products
Gearboxes


40T 20DP 0.375" Hex Bore, Steel Gear (am-0024)	Pneumatic Control Module (am-2858)	E4T OEM Miniature Optical Encoder Kit (am-3132)	Toughbox®
$14.00	$90.00	$42.00	$75.00