WCP SS Swerve User Manual Download

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WCP SS Swerve - User Guide

(Rev 1)

Page 1

WCP SS Swerve - User Manual (Rev 1)

Table of Contents

What is the WCP SS Swerve? ��3
1� Design Notes ��4

1�1 Tools Needed  ��5
1�2 BOM (Bill of Materials)  ��6
1�3 Encoders  ��8

2� Left and Right Module Setup ��9
3� Assembly of Base Kit �� 10

3�1 Top Rotation Bearing Retaining Bolts  �� 11
3�2 Insert Rotation Bearing  �� 12
3�3 Bottom Rotation Bearing Retaining Bolts  �� 13
3�4 Main Rotation Gear and Rotation Bearing  �� 14
3�5 Insert Bearing into Wheel Fork  �� 15
3�6 Insert Roll Pins into Wheel Fork  �� 16
3�7 1

Stage Shaft Assembly �� 17

3�8 Install Wheel Forks �� 18
3�9 Finish Assembly of 1

Stage Shaft �� 19

3�10 Insert Base Plate Rotation Bearings �� 20
3�11 CIM Output Shaft �� 21
3�12 1

Stage Rotation Shaft �� 22

3�13 2

Stage Shaft Install �� 23

3�14 2

Stage Shaft Final Gear Assembly �� 24

3�15 1

Stage Rotation Shaft Final Gear Install �� 25

3�16 Secure Motor Plate �� 26
3�17 1

Stage Rotation Shaft Motor Plate Bearing �� 27

Summary of Contents for SS Swerve

Page 1: ...g Retaining Bolts 13 3 4 Main Rotation Gear and Rotation Bearing 14 3 5 Insert Bearing into Wheel Fork 15 3 6 Insert Roll Pins into Wheel Fork 16 3 7 1st Stage Shaft Assembly 17 3 8 Install Wheel Forks 18 3 9 Finish Assembly of 1st Stage Shaft 19 3 10 Insert Base Plate Rotation Bearings 20 3 11 CIM Output Shaft 21 3 12 1st Stage Rotation Shaft 22 3 13 2nd Stage Shaft Install 23 3 14 2st Stage Shaf...

Page 2: ... Axle Pt 1 36 3 27 Installing the Dead Axle Pt 2 37 3 28 Installing Completed Wheel into Module 38 3 29 Securing Wheel To Module 39 3 30 Base WCP SS Swerve Module Complete 40 4 Installing Distance Sensor Hardware Kit 41 4 1 Main Distance Sensor Bearing 42 4 2 Distance Encoder Shaft and Pulley 43 4 3 CTRE Mag Encoder Mount 44 4 4 Distance Sensor Hardware Kit Complete 45 5 Installing Rotation Sensor...

Page 3: ...e WCP SS Swerve is the most robust and ease of use COTS swerve module available on the market Through its precision engineered main rotation gear and easy to change drive wheel it makes it easy to service the module and make changes very quickly This module was based off of an Aren Hill design and later modified by FRC Team 1323 ...

Page 4: ...sign Notes The following pages will explain tools needed to assemble the gearbox and other vari ous tidbits of information Disclaimer Teams are responsible for purchasing or making the hex shaft spacers shown as they are not included in the kit WCP SS Swerve User Guide Rev 1 ...

Page 5: ...cmaster Carr P N 5419A35 2 7 16 Ratcheting Combination Wrench McMaster P N 5163A15 1 Note Any 7 16 wrench may be used 3 Loctite GlueStick Blue McMaster Carr P N 1004A12 1 Note Apply to ALL screws that do not a Lock Nut 4 Snap Ring Pliers 1 1 2 McMaster Carr P N 5449A81 2 3 8 McMaster Carr P N 5449A79 Optional Tools for Assembly 1 Arbor Press 2 Drill Bits 3 Drill 4 Multi Tool Set of Allen Wrenches ...

Page 6: ...ation Shaft 4 x Module Spacers 1 x FR6 Washer 1 x 1 2 Hex 3mm Length Spacer 1 x 1 4 ID 085 Length Spacer 1 x FR8 Washer 2 x 1 2 Snap Ring 2 x 3 8 Snap Ring 1 x 1 4 Snap Ring 1 x 8mm Push Nut 4 x 3 8 BHCS 10 32 Bolt 14 x 1 4 BHCS 10 32 Bolt 4 x 2 BHCS 10 32 Bolt 2 x 1 2 BHCS 10 32 Bolt 2 x 2mm Machine Keys Wheel Module Components 1 x 15T Bevel Gear 1 x 45T Bevel Gear 1 x 72T Rotation Gear 2 x Forks...

Page 7: ...1 1 x 1st Stage Shaft 4 x 1 8 Rolled Pins 1 x FR4 1 x FR6 2 x FR8 1 x 8mm Skateboard Bearing 1 x 80mm ID Bearing 1 x 8mm Thrust Bearing 3 x 1 2 SnapRing 1 x 8mm Snapring 1 x 3 25 BHCS 1 4 20 Bolt 1 x 3 8 BHCS 10 32 Bolt 1 x 1 75 SHCS 10 32 BOlt 1 x 1 4 20 Thin Lock Nut ...

Page 8: ...anual Rev 1 1 3 Encoders The WCP SS Swerve only natively supports the SRX Mag Encoder by CTRE Note Distance and Rotation hardware are sold separately It is highly recommended to purchase these hardware kits as they are designed around the WCP SS Swerve mod ule ...

Page 9: ...erve User Manual Rev 1 2 Left and Right Module Setup The assembly instructions are the same for each side of the module in terms of the steps but in order to get the left or right side modules you must start with the base plate face up or face down ...

Page 10: ...WCP SS Swerve User Guide Rev 1 Page 10 WCP SS Swerve User Manual Rev 1 3 Assembly of Base Kit ...

Page 11: ...Swerve User Guide Rev 1 Page 11 WCP SS Swerve User Manual Rev 1 3 1 Top Rotation Bearing Retaining Bolts Insert 14 of the 10 32 BHCS Bolt x 0 25 Length into the threaded holes shown Tight en all the bolts down ...

Page 12: ...Page 12 WCP SS Swerve User Manual Rev 1 3 2 Insert Rotation Bearing Insert main large circular cutout as shown This should require a little force as it is a snug fit for the bearing If necessary tap lightly and evenly with a deadblow ...

Page 13: ...er Manual Rev 1 3 3 Bottom Rotation Bearing Retaining Bolts Insert 9 of the 10 32 BHCS x 0 375 Length bolts into the threaded holes as shown below Note Bolts will not be able to thread all the way into the plate as the bearing will stop this from happening ...

Page 14: ...Swerve User Manual Rev 1 3 4 Main Rotation Gear and Rotation Bearing Push the main rotation gear onto the large rotation bearing as shown below Ensure that you are putting the gear on the side of the bearing where the bolts are flush with the plate ...

Page 15: ... SS Swerve User Guide Rev 1 Page 15 WCP SS Swerve User Manual Rev 1 3 5 Insert Bearing into Wheel Fork Push bearing into the small circular cutout as shown below Ensure that the bearing is seated properly ...

Page 16: ...WCP SS Swerve User Guide Rev 1 Page 16 WCP SS Swerve User Manual Rev 1 3 6 Insert Roll Pins into Wheel Fork Push the 4 roll pins into the smaller set of holes on both forks ...

Page 17: ...ide the thrust washer onto the shaft so that it touches the face of the gear Slide the 15T bevel gear onto the shaft and then slide the 2mm machine key into the grove Finally install the 3 8 snap ring to hold it all together Note It may be easier to insert the 2mm machine key into the grove on the shaft then slide the 15T bevel gear over the machine key and shaft ...

Page 18: ... set of holes on the main rotation gear as shown Then bolt the forks in from the bottom with the 10 32 SHCS x 1 75 Length bolts Note The roll pins are there to aid in assembly and alignment If difficult to push roll pins into holes you can drill out the 0 125 holes to the next size up and this will not affect performance SHCS ...

Page 19: ...ser Guide Rev 1 Page 19 WCP SS Swerve User Manual Rev 1 3 9 Finish Assembly of 1st Stage Shaft Assemble 30T or your chosen driven gear for the distance set of gears and put 1 2 snap ring onto shaft to retain the gear ...

Page 20: ...e User Manual Rev 1 3 10 Insert Base Plate Rotation Bearings Insert bearings as shown and thread in the bolts into the plate so that they retain the bearing Note These bolts will not sit flush with the plate as they are meant to only retain the bearing ...

Page 21: ...ng grove If gear is above pulley then the gear will not mesh with the already assembled gear Once pulley and gear are on shaft secure them with the 1 2 snap ring Note If you didn t purchase the distance sensor hardware or have not 3D printed your own then you can put a spacer there until replaced with a pulley Disclaimer If you are using a CIM or Mini CIM as the distance motor you will not be able...

Page 22: ...Stage Rotation Shaft Insert the 1st stage rotation shaft from the bottom of the base plate Slide the wave washer onto the shaft followed by your 1st stage rotation gear in our case we chose the 50T 1 2 hex bore gear for example Retain the gear and wave washer via the 1 2 snap ring ...

Page 23: ...v 1 Page 23 WCP SS Swerve User Manual Rev 1 3 13 2nd Stage Shaft Install Slide 2nd stage shaft into the bearing installed in 3 10 then slide the 30T 1 2 hex bore gear onto the shaft such that it mates with the main rotation gear ...

Page 24: ...WCP SS Swerve User Guide Rev 1 Page 24 WCP SS Swerve User Manual Rev 1 3 14 2st Stage Shaft Final Gear Assembly Slide a 1 2 spacer onto the shaft followed by the 34T 1 2 hex bore gear ...

Page 25: ...t Stage Rotation Shaft Final Gear Install Put the 12T CIM bore gear onto the shaft and then slide they 2mm machine key into the grove Note Some may find it easier to push the 2mm machine key into the grove then slide the 12T CIM bore gear onto the shaft after the key is installed ...

Page 26: ...Swerve User Manual Rev 1 3 16 Secure Motor Plate Push the 4 x 10 32 BHCS x 2 0 length from the holes in the base plate and then slip module spacers over the bolts and finally thread the bolts into the holes located on the motor plate as shown below ...

Page 27: ...st Stage Rotation Shaft Motor Plate Bearing Insert 0 25 ID x 0 625 OD x 0 196 WD bearing into specified hole on the motor plate and secure with the 2 x 10 32 BHCS x 0 25 Length bolts Note These bolts will not sit flush with the plate as they are meant to only retain the bearing ...

Page 28: ...ation Shaft Clip the 8mm snap ring onto the 1st stage rotation shaft in order to properly retain the shaft Note The shaft may not fully show the snap ring grove and this is normal Please push on the bottom of the shaft so that the wave washer compresses and then the snap ring grove will be fully present ...

Page 29: ...on Shaft Motor Plate Bearing Insert the 0 375 ID x 0 875 OD x 0 28 WD bearing into the specified hole shown be low and secure the bearing into place by tightening down the 2 x 10 32 BHCS x 0 25 length bolts Note These bolts will not sit flush with the plate as they are meant to only retain the ...

Page 30: ...mm machine key The align the 2mm machine key with the key slot on the CIM output shaft then push down so that the motor is flush with the motor plate and this will in turn push the 8mm push nut into the correct location Note If you are using our distance hardware or have 3D printed your own then it is recommended that the GT2 belt is slipped over the pulley prior to the drive motor being installed...

Page 31: ...l need to rotate the main rotation gear such that the large 2 holes are aligned with the CIM mounting holes Then use an allen key to go through the holes on the main rotation gear to be able to tighten the drive motor mounting bolts Note If you need to replace your drive motor for any reason you will have to remove the drive wheel to access these bolts in the future ...

Page 32: ...e User Manual Rev 1 3 22 775pro Mounting After the pinion of choice is installed on the 775pro slide the motor into it s location as shown below and secure the motor to the base plate with 2 x M4 bolts x 12mm length Note These M4 bolts are not included ...

Page 33: ...el Push the 45T bevel gear into the wheel such that the flat face of the wheel matches the picture below Then secure the bevel gear to the wheel by tightening the 5 x 10 32 SHCS bolts x 0 375 length from the back side of the wheel so that none of the bolt heads are visible when looking at the 45T bevel gear ...

Page 34: ... 1 Page 34 WCP SS Swerve User Manual Rev 1 3 24 Install Bevel Gear Bearing Push the 0 5 ID x 1 125 OD x 0 313 WD Flanged Bearing into the bevel gear so that the flange of the bearing is flush with the outside lip on the bevel gear ...

Page 35: ...e User Guide Rev 1 Page 35 WCP SS Swerve User Manual Rev 1 3 25 Install Backside Wheel Bearing Push the 0 5 ID x 1 125 OD x 0 313 WD Flanged Bearing into the extruded feature on the rear of the wheel as shown below ...

Page 36: ... Swerve User Guide Rev 1 Page 36 WCP SS Swerve User Manual Rev 1 3 26 Installing the Dead Axle Pt 1 Slide the dead axle wheel shaft into the bearing from the bevel gear side and secure with the 1 2 snap ring ...

Page 37: ...ead Axle Pt 2 Push the shaft all the way through the wheel until it comes out of the other bearing as shown below Secure the shaft to the wheel by installing the 1 2 snap ring on to the end of the shaft The dead axle should not be able to separte from the wheel once this snap ring is intalled ...

Page 38: ... User Guide Rev 1 Page 38 WCP SS Swerve User Manual Rev 1 3 28 Installing Completed Wheel into Module Slide the completed wheel into the the forks so that the cutouts on the forks surround the dead axle wheel shaft ...

Page 39: ...gth through the whole in the fork into the dead axle wheel shaft and then out the other hole on the opposing fork Secure the bolt in place with the 1 4 20 thin lock nut Note This bolt can be installed with the bolt head is touching the fork shown below or the opposite fork Installing this bolt the opposite way will not effect performance ...

Page 40: ...WCP SS Swerve User Guide Rev 1 Page 40 WCP SS Swerve User Manual Rev 1 3 30 Base WCP SS Swerve Module Complete ...

Page 41: ...WCP SS Swerve User Guide Rev 1 Page 41 WCP SS Swerve User Manual Rev 1 4 Installing Distance Sensor Hardware Kit ...

Page 42: ...WCP SS Swerve User Guide Rev 1 Page 42 WCP SS Swerve User Manual Rev 1 4 1 Main Distance Sensor Bearing Push the 0 375 ID x 0 875 OD x 0 28 WD bearing into the motor plate as shown be low ...

Page 43: ...ide the round portion of the shaft into the bearing installed in step 4 1 such that only the snap ring grove is exposed on the flanged side of the bearing Secure the distance encoder shaft to the modue by putting th 1 2 snap ring onto the shaft Note Once installed you should be able to spin the drive wheel and the distance encod er shaft will spin The shaft is not geared 1 1 with the drive wheel s...

Page 44: ...hem until secure Finally take the CTRE mag encoder and place it so that the sensor side is face down and then thread the CTRE mag encoder bolt into the mount Note CTRE mag encoder CTRE mag encoder bolt is not included in this kit and must be bought separately Disclaimer Do not over tighten the 2x 10 32 BHCS bolts x 0 5 length into the plate as over tightening them can cause the 3D printed part to ...

Page 45: ...WCP SS Swerve User Guide Rev 1 Page 45 WCP SS Swerve User Manual Rev 1 4 4 Distance Sensor Hardware Kit Complete ...

Page 46: ...WCP SS Swerve User Guide Rev 1 Page 46 WCP SS Swerve User Manual Rev 1 5 Installing Rotation Sensor Hardware Kit ...

Page 47: ...WCP SS Swerve User Guide Rev 1 Page 47 WCP SS Swerve User Manual Rev 1 5 1 Main Rotation Sensor Bearing Push the 0 25 ID x 0 625 OD x 0 196 WD bearing into the hole shown below ...

Page 48: ... key in the gear with the keyway on the shaft and then push the pinion onto the shaft Once installed push the 8mm push nut onto shaft to secure the 10T 3D printed rotation pinion Note This should require very little force and if a lot of force is required please check the 3D printed part to ensure that it is clean Also ensure that you have matched the keyway with the key in the gear as mentioned a...

Page 49: ...age 49 WCP SS Swerve User Manual Rev 1 5 3 24T 3D Printed Rotation Gear Install the rotation encoder shaft by putting the smaller end into the previously installed bearing and then slip the 24T 3D printed rotation gear onto the shaft ...

Page 50: ...and then secure the mount with the 2x 10 32 BHCS bolts x 1 25 length Finally take the CTRE mag encoder and place it so that the sensor side is face down and then thread the CTRE mag encoder bolt into the mount Note CTRE mag encoder CTRE mag encoder bolt is not included in this kit and must be bought separately Disclaimer Do not over tighten the 2x 10 32 BHCS bolts x 1 25 length into the plate as o...

Page 51: ...WCP SS Swerve User Guide Rev 1 Page 51 WCP SS Swerve User Manual Rev 1 5 5 Rotation Sensor Hardware Kit Complete ...

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