FRC Swerve Drive Specialties MK4i low profile full cover

This is a low profile cover for the Swerve Drive Specialties MK4i drive system.
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updated January 20, 2024

Description

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This is a low profile cover for the Swerve Drive Specialties MK4i drive system. The cover is designed to fully cover the drive all the way down to the mounting plate so the belt is fully covered. Also there are mounting points for adding a aluminum plate for the motor drivers. (See image for recommended mounting plate dimensions.)

Features

  • Fully enclosed drive including steering belt.
  • Side doors have double duty. 
    • Allows inspection and greasing of gears.
    • Locks cover to swerve drive when installed. 
  • 4x mounting points for optional motor driver plate. 
  • 2x mounting points for optional top logo plate or other devices. 
  • Door screw caps to allow removal without tools. 
  • Steering encoder is exposed for easy debug / status indicator. 
  • Pockets to allow optional bearings to be added to the top of the motor shafts. 

Materials needed for a set of 4 covers: 

  • ~870g of PETG filament  
  • 32x M3x5mmx5mm heat inserts (min required is 2x for doors) 
  • 8x M3x10mm  cap head screws
  • [optional] 4x 140mmx58.5mmx6mm or similar aluminum plate (driver mount)
  • [optional] 16x M3x12mm screws (driver mount)
  • [optional] 16x M3x12mm washers (driver mount)
  • [optional] 16x M3x12mm lock washers (driver mount)

Printing settings

  • PETG highly recommended
  • 3 perimeters
  • 15% infill
  • Supports everywhere

 Printing orientation

  • Main cover print top down  
  • Doors print outside (largest surface) down 
  • Screw caps print small hole down

Assembly instructions 

  1. After printing parts remove all support material.
  2. Make sure the doors fit in the top cover openings. Should be a snug fit but easy to remove and slide around. If it is too tight check for support material on the top cover door openings. 
  3. Insert 8x heat inserts into main cover. Press inserts in until flush on both sides. Tip use a metal block on the inside of the cover to prevent the heat inserts from being pushed in too far. 
  4. Make sure the drive motors are “clocked” such that the wires are pointed at each other. If the motors are not mounted this way they will interfere with the cover. 
  5. Install cover on swerve drive running the encoder wires thought the top of the cover as shown in the photos. 
  6. Use a 3/8 closed end wrench to hold the screw caps. Then install the M3x10mm cap screw into the cap. Screw down until cap screw head bottoms out in the pocket in the cap. 
  7. Install the side doors. You can either tip them in or insert flat then slide to engage the door tang on the cover. NOTE!! if the doors seem to hit something and not close make sure the main cover is fully on the swerve drive. If the cover is lifted / tipped the edge of the upper frame will prevent the doors from being installed. (Doors lock the cover on the swerve drive upper frame.)
  8. Use cap screws assembled in step 6 to secure doors 

Original FreeCAD files and .step exports are included. 

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The author marked this model as their own original creation.

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