Parts
The robot consists of four swerve modules. To assemble each module you will need the following 3D printed parts:
And the following set of hardware:
Note that if you chose to print the parts with imbedded nuts, you will need nuts instead of inserts. However the nuts should already in the printed parts.
Applying the inserts
If you chose to print the parts that required inserts, you will need to insert them now. You can find directions on how to do that here.
Assemble the wheel
Insert a 10x15x4 Bearing and the Wheel Spacers into each side of the wheel as shown:
Then place the rubber Wrist Band around the wheel for traction as shown:
Assemble the Base
First insert the 60x78x10 Bearing into the Base and fasten with four 2-28 Screws as shown:
Then attach the Steering Motor (the one without the encoder) using two 4-40 Screws.
Next, insert the Bevel Bearing into the 10x15x5 Bearing as shown:
Then insert this Bearing into the Base With Arms as shown:
Now attach the Bevel Pinion using the 2″ Square Axle as shown:
Then attach the Small Drive Gear as shown:
Finally, insert the Pot Coupler into the Base With Arms as shown:
Now insert this assembly into the base as shown:
Then insert the 12x18x4 Bearing into the Large Steering Gear as shown:
Now attach the Large Steering Gear to the Base With Arms with two 7/8″ 4-40 Screws as shown:
Then place two 10x15x4 Bearings on the Pot Coupler and lock them in place with the Inner Race Spacer as shown:
Now slide the Center Drive Gear over the two bearings that you just installed as shown:
Next, attach the Wheel to the Base With Arms with the 2 1/4″ 8-32 Screw and Lock Nut as shown:
Finally, attach the Steering Gear to the Steering Motor using the washer and M2.5 Screw as shown:
Before you move on, you should apply a generous amount of your favorite gear lubricant to the gears. I have been using generic petroleum jelly for my lubricant and it seems to work well. Your milage might vary.
Assemble Upper Support
First attach the Drive Motor (the motor with the encoder) to the Upper Support with two 7/8″ 8-32 Screws and one 3/8″ 2-28 Screw as shown:
Then attach the Drive Gear with the Washer and a 2.5m Screw as shown. Once again apply a liberal amount of gear lubricant to the gear.
Next attach the Upper Support to the Base using the four Upper Support Spacers and four 1 1/2″ 8-32 Screws as shown:
Next attach the Absolute Encoder with two 2-28 Screws as shown:
Then attach the Motor Controller to the Base using four 2-28 Screws as shown:
Swerve Module Wiring
Finally connect the Swerve Module Wiring as shown below. Pay close attention to the polarity of the wiring.
The Swerve Module is now complete. You will need to assemble four of these.