Projects

A 32" × 28" swerve base on MK4i modules — Kraken X60 drive geared to 15 ft/s, Kraken X44 steering.

Requirements

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• Agile, responsive, and highly controllable.
• Extremely robust, rigid, and reliable.
• Low centre of mass (CoM).
• Must provide rigid structure and mounting of subsystems.

Details

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• Constructed of 3" x 1" x 1/8" aluminum tubing for stiffness and a lower chassis. A 1/16" solid aluminum baseplate acts as a shear plate, offers a mounting surface for electronics, and lowers the overall CoM to improve stability.
• Maximum chassis size of 32" long by 28" wide to ensure stability when scoring.
• The corners of the baseplate are bolted, adding extra support to the rivets.
• The baseplate is fastened directly to the elevator gearbox, and an aluminum angle riveted along the baseplate near the battery prevents sagging.
• Utilizes Swerve Drive Specialties MK4i modules, selected for their proven reliability, low CoM, and team familiarity.
• Powered by Kraken X60 motors for a top speed of 15 ft/s. The L2 gear ratio balances speed and acceleration for the game's short cycle distances.
• Each swerve module steers with a Kraken X44 on a custom shifted adapter plate and a 12-tooth pinion, saving nearly 2 lbs.