Swerve Drive Robot
Description
PDFAn omnidirectional robot build on the basis of three of my differential swerve drive modules. The modules are modified a bit, so that the motors are horizontal and not vertical. This way I could make the robot base quite thin.
You can see the robot in action here:
For assembly details see the video below, or look in the full-assembly.step which contains a fully assembled 3D model. This can also be used as a starting point if you want to make modifications, as it is fully editable.
Note that I burned a few of the N20 motors. A larger motor may be preferred, but at least the cooling around the motors should be improved, so that they are not fully enclosed.
For driving the motors I use the same driver board as in my Rover. It is modified a bit, as the PCA9685 is not mounted, so that I could use the SCL, SDA and EXTCLK as input for the A3144 hall sensors.
If you make remixes of this model and publicly shares the modifications, please consider uploading your changes in an editable format like STEP. It makes it so much easier for others to improve on your changes.
3D Printed Parts
| Quantity | Name |
| 3 | bottom-base |
| 1 | frame-fixture-camera |
| 3 | frame-round |
| 2 | frame-side |
| 1 | frame-side-camera |
| 1 | inside-battery-frame |
| 3 | inside-fixture |
| 3 | inside-fixture-sensor-bottom |
| 3 | inside-fixture-sensor-top |
| 3 | inside-frame |
| 3 | inside-motor-bracket-a |
| 3 | inside-motor-bracket-b |
| 1 | stand-base |
| 3 | stand-end |
| 3 | swerve-axle-end |
| 3 | swerve-axle-gear |
| 3 | swerve-axle-rim-hex |
| 3 | swerve-axle-spacer |
| 3 | swerve-base |
| 6 | swerve-bracket |
| 6 | swerve-gear-motor |
| 6 | swerve-large-gear |
| 1 | top-battery |
| 1 | top-camera |
| 3 | top-round |
Nuts and Bolts
| Quantity | Name |
| 4 | Hex nut M2x0.4 |
| 12 | Hex nut M3x0.5 |
| 24 | Hex nut M4x0.7 |
| 4 | Hex socket head cap screw M2.5x0.45 x 6 |
| 4 | Hex socket head cap screw M2x0.40 x 6 |
| 12 | Hex socket head cap screw M3x0.50 x 16 |
| 12 | Hex socket head cap screw M3x0.50 x 25 |
| 32 | Hex socket head cap screw M3x0.50 x 6 |
| 16 | Hex socket head cap screw M3x0.50 x 8 |
| 6 | Hex socket set screw M3x0.5 x 6 |
| 12 | PH Pan head screw M4x0.70 x 30 |
| 12 | Slotted pan head screw M4x0.70 x 10 |
Other Parts
| Quantity | Name |
| 36 | ext-bearing-4x13x7-U624ZZ |
| 6 | ext-bearing-5x16x5-625ZZ |
| 1 | ext-camera-arducamTOF |
| 1 | ext-camera-arducamUC852 |
| 1 | ext-connector-XT60E1-M |
| 3 | ext-magnet-4x4 |
| 6 | ext-motor-n20 12V 600rpm |
| 1 | ext-pcb-motor-driver |
| 1 | ext-pcb-raspberry-pi-4 |
| 3 | ext-swerve-axle 5x83 mm |
| 1 | ext-switch-MTS-1xx-A1 |
| 3 | ext-wheel-hub |
| 3 | ext-wheel-tire (75x28mm) |
| 1 | ext-battery |
| 3 | ext-sensor-a3144 |
Model origin
The author marked this model as their own original creation.
