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Differential swerve drive started as a project to support the robotics team, but its purpose has changed into supporting me as an engineer. I knew it would be a difficult project but I knew I would learn a lot through attempting it. I first started this project in fall of 2022. I made almost 20 iterations of the project, each better than the last. Each time I made a module, I realized a small mistake I made early on in the process, so I restarted with a new iteration. My last iteration of 2022 neared compleation before I realized a fatal issue of my design.
In fall of 2023, I arrived at a solution to the problem I found a year earlier. I am still iterating on V21 as I write this, but I think I'll have a finished prototype this time.
Differentail swerve drive is an alternative to the COTS swerve we invested in during the 2023 season. It is twice as powerful, twice as fast, but twice as complicated.
What is swerve?
What is swerve?
There are many different ways to move a robot. four different ways are pictured below: (Tank, Mecnum, Swerve, and Omni)
Swerve is optimal because It enables the robot to move and rotate independently of the direction it's facing. It also has more friction than Omni or Mecanum drivetrains.
Co-Axle Swerve
Co-Axle Swerve
Differential
Differential
2023 Iterations & Flaws
2023 Iterations & Flaws
Current Iteration
Current Iteration
Future Plans
Future Plans
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