Capstone project I am part of as of Fall 2024, currently in progress. Will feature an offset swerve drive, allowing the wheels to rotate, enabling better turning as well as strafing and steering.
The swerve drive actuator is a harmonic gearhead, with built in crossed-roller-bearing, with a custom integrated, off the shelf frameless motor, similar to the construction used in NURover’s new arm which I designed. The drive wheel is driven by a combined belt and planetary reduction driven by a high power BLDC motor, driving a custom designed 3D printed TPU wheel.
The design is fully master-sketched, allowing for easy adjustment of the design, and a single source of references to prevent issues.
