CAD
Frame
The swerve module frame was designed with a focus on stiffness, manufacturability, and modular integration. Components were dimensioned to allow future expansion while maintaining compact packaging.
Frame CAD
Detailed CAD modeling of the chassis and swerve module components, optimizing geometry for structural integrity and efficient packaging.
Analysis
Finite Element Analysis (FEA) conducted to validate load paths and ensure that the frame could withstand expected operating forces.
Finished Assembly
Hardware & Software
Electronics
Designed power distribution and control electronics including motor drivers, microcontrollers, and sensor integration on KICAD. Emphasis placed on modular wiring and expandability.
ROS2
High-level control implemented using ROS2 on a Raspberry Pi, handling motion control, kinematics, and communication between subsystems.
Final System
