Swerve Drive

This project was an attempt at making a chassis that can reach any point in space in a straight line without ever needing to turn to face the direction of movement,  an alternative way to phrase this problem is "making a chassis where the rotation and translation are completely independent"

this project took two months and required a great deal of CAD design, prototyping, CNC cutting and assembly, overall pleased with the results, there is obviously room for improvement though.

i clearly did not invent the wheel on this one (pun intended) and there are many similar designs out there , my design was made in order to maximize 3DOF CNC and 3D printing usage and to be able to be built with the specific tools i had in my possession.

 here is a video that shows the final result of the project:

the coding and electronics were made by two other people,  the engineering is my part. this was all done inside my school's robotics shop, i would work on this projects  at night with friends when no school activity happened. 

here is another video showcasing the development steps with many images in chronological order

we stopped working on the project when we reached the first fully working prototype since we wanted to pursue other things.