The Chassis Design of the Swerveomni Directional Wheel

Abstract

For the design of the FRC race chassis, this project uses the official motor and parts as materials and Autodesk Inventor for modeling to design and produce a four-wheel drive, independently controlled motor chassis structure. The power system of the chassis structure contains two motors, one of which is the Falcon 500 as the drive motor of the power system, and the other is the 775 pro chosen as the drive motor of the steering system. The drive system consists of a gear train containing spur gears and bevel gears. The control system uses a classical PID algorithm to achieve accurate overall robot motion by outputting a specific amount of motor rotation. In the project, a single Swerve drive module was designed and built, and its performance was tested on a mobile platform equipped with multiple Omni-directional wheels.