The MK5n Swerve Module is the next revolution of the FRC swerve module, with a broad range of advancements over prior generation modules, including:
Smallest inverted motor SDS swerve drive module: 5" x 7.5" footprint (excluding the chassis mounting flanges).
Fully gear-driven steering system for additional robustness.
Wider wheel for improved traction and tread life.
Machined billet wheel with neoprene tread and molded wheel with molded spike grip tread options (Colson wheel option planned).
Quick-change drive gear ratio accomplished by swapping only the motor pinion gear without internal disassembly of the swerve module.
Enclosed bevel gears at the wheel help ensure field tape, carpet fuzz, and other debris do not end up in the bevel gears and grease.
Drive and steering gears are enclosed in a molded glass-reinforced nylon housing to help keep the grease in and debris out.
Sealed main steering bearing helps prevent carpet fuzz and other debris from entering the bearing.
Chamfered bottom plate helps transition to driving up inclined surfaces.
Additional new features:
One-piece main steering gear combines three parts (Center Column, Base Pulley, and screw) to simplify assembly.
One-piece steering double gear combines two gears, one shaft, and one spacer to reduce backlash and simplify assembly.
Intermediate drive shaft has integrated bevel gear to simplify assembly.
Motor pinion gears have integrated motor shaft spacers to simplify assembly.
Motor pinion gears have integrated wrench flats to hold the gear while tightening the shaft screw (no more grabbing the gear with pliers!).
All machine screws are 10-32 to help minimize the tools needed for assembly.
Steering encoder (not included) is fully recessed and enclosed for improved protection.
Steering encoder wiring (not included) is recessed, and can be secured via an integrated cable tie mount for improved protection.
Self-aligning housing to ease assembly.
Other features:
Drive gear ratio changes are accomplished without using profile-shifted gears to help ensure efficient and quiet power transfer.
All metal plates are made out of 7075-T6 aluminum to help ensure robust construction.
All drive gears are steel for durability.
Wheel is biased to the corner of the drivebase to help maximize robot stability.
On-axis steering encoder for zero backlash measurements. Module can be disassembled/reassembled without resetting the encoder offset.
Auxiliary 10-32 mounting holes on the main plate to mount subsystems (e.g., robot superstructure, intakes, mechanism pivot).
Auxiliary 10-32 mounting holes on housing for camera mounting.
Same frame-to-floor height as previous SDS swerve modules to increase compatibility across the SDS swerve module family.
No 3D printed parts to help ensure robust construction.
Bottom and top mounted robot chassis capability to provide multiple frame height options.
Includes all hardware, including the hardware to mount the module to the robot.