Tube Mounting
Two of the four possible configurations of WCP’s Swerve X are the Tube Mount and Tube Mount, Flipped.
The Tube Mount Swerve is the traditional style of swerve mounting. While designed in the familiar style of past generations of swerve, this configuration is much smaller and lighter. One of the primary benefits of this configuration is that it allows for a much less complex drivetrain assembly experience. Simply cut four VersaFrame 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
Has the option for low center of gravity or high ground clearance
Takes up less space inside the frame when compared to the flipped configuration
The Tube Mount, Flipped is a variation of the Tube Mount modules. While using a familiar mounting style of past generations of swerve, this configuration is much shorter.
Notable features:
Frame assembly is independent from module installation
Less complex frame tubes
Can easily change between low ground clearance and high ground clearance
Much shorter module, allowing mechanisms to be easily mounted over it
Recommended Frame Construction
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 X Module.
Standard Configuration
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 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 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.
Flipped Configuration
Once the frame is fully assembled, the Flipped 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 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 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.
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