Independent · 2024–2025
Swerve Drive
Each corner steers and drives independently, with drive torque turning through a bevel stage at the wheel so the steering axis stays clear. Drawn and packaged rather than built: the exercise was closing the gear train and the module envelope against a chassis plate that had to carry all four.
One corner, four times
A swerve module is only interesting where the two jobs meet: the wheel has to spin while the whole assembly rotates underneath it. Taking the drive through a bevel stage at the wheel keeps the steering axis free for the rotation to happen around.
Worked out as cross-sections first, because that is the only view where you can see whether the two shafts actually clear each other.
Packaging the chassis
Four modules have to fit a plate that also carries everything else, so the module envelope and the chassis layout were solved together rather than in sequence. The corner cutouts in the plate are the shape they are because of what sits in them.
Independent