Suspension capable coaxial swerve drive (FRC Team 2903)

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FRC team 2903 The Neobots are proud to present our first public swerve drive design. The IP-S NSD MkVI-C (Internally Powered Suspended Neo Swerve Drive Mk VI -Block C) is a coaxial swerve drive designed to offer several unique features never before seen in previous modules, such as a sub-10-second toolless wheel cartridge swap system, the ability to mount a suspension with minimal effort, and an accessibility focused pin mounting system. ------------------------------------------------------Features------------------------------------------------------ Quick swap: Innovative swerve module system allows for easy maintenance and troubleshooting with more wheel "cartridge" designs (High-Speed Cartridge, Tank Cartridge) coming in the future for increased flexibility on the field. This system works through the use of a spring card retainer system and four retaining pins mounted on each wheel cartridge. By depressing a lever on the side of the module, this spring card is displaced, disengaging the pins and allowing the old module to be removed. New modules are simply inserted into the slot in the carriage, and the spring card latches onto them automatically. Suspension capability: With the addition of four small springs/rubber dampers (in conjunction with lengthened 10-32 mounting pins and driveshaft) this module can mount a basic suspension, allowing it to sustain drops and shocks with ease. Pin Mounting System: The shortened frame extrusion pieces you see in the CAD model are not shortened to make the model smaller. Frame extrusion is intended to be cut to just two inches outside the perimeter of the module in order to accommodate a pin and gusset based mounting solution. Rather than directly bolting each module to the robot, 2.5" pins are to be inserted through gussets, and into the holes in the top of the frame extrusion of the module. In order to facilitate easy removal, all electrical connections to and from the module are run through a 3D printed Junction bracket, with quick disconnects for all cables. This allows each module of the drivebase to be completely removed, greatly improving serviceability.------------------------------------------------------Specs------------------------------------------------------Defense Cartridge: Free Speed: 9.03 fps Push Force (four modules): 192.93 lbs Weight: 8.63 lbs/moduleHigh-Speed/Offense Cartridge: Free Speed: 15.18 fps Push Force (four modules): 114.8 lbs Weight: 8.62 lbs/module-------------------------------------------------Additional Info-------------------------------------------------The BoM is attached as a .xlsx for interested teams, including links to parts and prices.Also included are several jigs, and some supplemental documentation (slightly outdated).Code to Operate this drivebase (WIP) Can be found at: https://github.com/neobots2903/SwerveDriveFRCIf you have any questions, don't hesitate to ask. Thank you for your time-FRC Team 2903: CAD Division