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WCP-0048: WCP SS Swerve (Full Module)
WCP-0048: WCP SS Swerve (Internal View)
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WCP SS Swerve

The original WCP swerve, based on a design from renowned FRC engineering mentor Aren Hill and later modified and used by FRC Team 1323 to win the 2019 championship. This module is designed to contain everything mechanically needed for a swerve drive, removing the hassle and complexities of custom machining parts, and opening doors to smooth and reliable omnidirectional motion for all.
 

  • Makes swerve an option for teams who cannot make it themselves
  • Frees up resources for teams who can make their own swerve so they can focus on more important parts of their robot
  • Accepts 1 CIM or Mini CIM for driving, and 1 775pro for module rotation
P/N Description Material CAD Drawings Weight
WCP-0048 WCP Swerve SS Gears & Forks: 7075-T6 Aluminum & 4140 Steel
Shafts: 7075-T6 Aluminum
Plates & Spacers: 6160-T6 Aluminum
Wheel: 6061-T6 Aluminum		 STEP Full Module PDF
Wheel Module PDF		 -
Kit Contents

WCP-0048: WCP Swerve SS (Wheel & Steering)

Steering Components

  • (1) Base Plate
  • (1) Motor Plate
  • (1) FR4
  • (2) FR6
  • (1) FR8
  • (1) CIM Motor Shaft
  • (2) 1st Stage Rotation Shaft
  • (2) 2nd Stage Rotation Shaft
  • (4) Module Spacers
  • (1) FR6 Washer
  • (1) 1/2" Hex 3mm Length Spacer
  • (1) 1/4" ID .085" Length Spacer
  • (1) FR8 Washer
  • (2) 1/2" Snap Ring
  • (2) 3/8" Snap Ring
  • (1) 1/4" Snap Ring
  • (1) 8mm Push Nut
  • (4) 3/8" BHCS #10-32 Bolt
  • (14) 1/4" BHCS #10-32 Bolt
  • (4) 2" BHCS #10-32 Bolt
  • (2) 1/2" BHCS #10-32 Bolt
  • (2) 2mm Machine Keys

Wheel Module Components

  • (1) 15T Bevel Gear
  • (1) 45T Bevel Gear
  • (1) 72T Rotation Gear
  • (2) Forks
  • (1) Dead Axle Wheel Shaft
  • (1) 4" Aluminum Wheel
  • (1) 1st Stage Shaft
  • (4) 1/8" Rolled Pins
  • (1) FR4
  • (1) FR6
  • (2) FR8
  • (1) 8mm Skateboard Bearing
  • (1) 80mm ID Bearing
  • (1) 8mm Thrust Bearing
  • (3) 1/2" SnapRing
  • (1) 8mm Snapring
  • (1) 3.25" BHCS 1/4"-20 Bolt
  • (1) 3/8" BHCS #10-32 Bolt
  • (1) 1.75" SHCS #10-32 BOlt
  • (1) 1/4-20" Thin Lock Nut
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