Portfolio Check 3

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SCP 3 - Swerve Module Assembly

Design Proposal and Goal

Research and Planning

To plan for this project, I used the CAD I made in my previous SCP 2 projects. Besides the design proposal, the research had already been done; I had already determined parts to use, layout, etc. I just needed to build the actual module. As a reminder, here's the list of final parts I am using:

2-wire 393 motors - due to lack of other options
VEX encoders - due to easier coding in the future
2.75-inch grip wheels - due to friction and its wheely cool (get it?)
12 and 36 toothed gears - due to 3:1 gear ratio make it go zoom
VEX sprocket and Chain - to allow for turning
3D printed module frame - allows for a lot of options

Creation and Iteration

Now came the time where I actually built the module. The assembly process was as follows:

Mount motors to top plate.
Attach sprocket to turn motor and gear to drive motor.
Mount axle + sprocket + chainto the top portion of azimuth (rotating part)
Attach bottom portion of azimuth to top after inserting in module casing
Insert bevel gear into azimuth and attach gear above
Attach other bevel gear to wheel
Insert wheel into azimuth so that bevel gears mesh
Attach top plate of module to the casing so that holes line up and sprockets and chain mesh.
Say yippee because you're done.

I had to iterate in order to fix my design issues. I noticed some flaws, but I worked around them. One of which was when I realized I scaled up the module, but forgot to scale down the screw holes, so I fashioned myself plastic washers out of a hot glue gun case. Overall, assembly went rather smoothly, with everything falling into place, with the exception of having to redrill some holes for alignment purposes. In the end, the module ended up working, with the wheel being allowed to turn and the module being allowed to rotate without problems. I now have a working swerve module that can be programmed.

Conclusion

It was definitely worth it to reiterate through my designs twice over the span of the semester, as my reiterations were what allowed assembly to be seamless. The module works, it can be programmed and duplicated in the future, allowing me to theoretically build a full VEX swerve drive. This entire concept was definitely a challenge for me, but eventually I came through, building my most complicated engineering project yet. It's a good way to end off the semester.

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