A swerve drive train is different from any other drive train used in robotics competitions. Most teams use a 4 or 6 wheel tank drive, while some opt for Omni or meccanum wheel drive trains. With meccanum and Omni wheel drive trains, teams can not only drive normally but translate (move side to side). Meccanum drive trains only move side to side on a 45° angle. Omni wheel drive trains can perfectly move side to side. But both drive trains have issues that come with this advantage. They move horrible slow side to side and can get pushed around easily. This is where the swerve drive train comes in and fixes some of the issues.

 

In FIRST Robotics Competition (FRC), the swerve drive train has become infamous for its speed, agility, and its high level of precision when it comes to moving. Swerve drive trains do everything that meccanum and Omni wheel drive trains can do and better. With a swerve drive, wheels are driven as normally by a motor, but also that motor (or another motor) allows the wheel to spin around like a caster wheel (or office chair wheel). With a single motor module, a shifting mechanism is required to allow for the motor to both engage with powering the wheel and spinning it. In a dual motor module, the motors each perform their own task. 

 

In the VEX community, swerve drive trains do exist, but there are a small handful of teams that have developed them. During this project, I led a team that comprised of 4 of my fellow classmates. For the team members that had no experience in robotics and drive train design, I helped to teach and guide them throughout the project. The final design was based off a 2-motor swerve drive train module that exists in FRC. The FRC design had to be adapted such that the modules would fit within a standard VEX drive train, be compliant with the VEX Robotics Competition rules and be easy to manufacture for prototyping. Before all of that was accomplished, the team had to go through a process.

 

At the start, my team brainstormed ideas and gathered research on existing swerve drive trains. A Gantt chart to keep the team on track was also made in the beginning. Then the team drew out their ideas and compiled them. Next, a weighted evaluation matrix was used to decide what design would be further developed. With the design selected, my team created a PowerPoint presentation to meet with the client and present their idea. With the client’s approval, the design was furthered in SolidWorks until the final design was reached. To conclude the project, the final design was pitched and presented to the client.