The Tube Mount Swerve is the traditional style of swerve mounting. One of the primary benefits of this configuration is that it allows for a much less complex drivetrain assembly experience. Simply cut four tubes to your desired length, and you’re just about good to go.
Notable features:
Frame assembly is independent from module installation
Less complex frame tubes
The Bottom Mount option gives teams 2” of extra ground clearance but doing this will also limit space available for other mechanisms above the frame. This will also increase the height of the Center of Gravity of the robot.
The Top Mount option does not have the 2” of extra ground clearance but gains space available for other mechanisms above the frame. This will also lower the height of the Center of Gravity of the robot.
The image below shows recommended assembly instructions for one corner of the frame. While it shows the frame being assembled with both the Aluminum Tube Plug (WCP-0374) and the 90 Degree Gusset (WCP-1060), it is also acceptable to use just one or the other.
In the image below, all holes in the gusset and tube marked in green are clearance holes for #10-32 bolts mounting the Swerve module. Unless the holes are used for mounting the swerve, the gusset can be installed using either bolts or rivets as desired.
If you are assembling the frame with a gusset, make sure to install it on the opposite side of the tube from the Tube Mount Swerve X2 Module.
Once the frame is fully assembled, the Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.
The images below shows the Module being installed using ten bolts, but they are not all needed. If desired, the Tube Mount Module can be mounted using only six bolts.
Once the frame is fully assembled, the Inverted Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.
The images below shows the Module being installed using ten bolts, but they are not all needed. If desired, the Tube Mount Module can be mounted using only six bolts.
Once the frame is fully assembled, the Thin Tube Mount Swerve Modules can be installed. As seen in the images below, the gusset for the frame is installed on the opposite side of the tube that the module attaches to.
