{"product_id":"sds-mk5i-swerve-module","title":"SDS MK5i Swerve Module","description":"\u003cp\u003e \u003c\/p\u003e\n\u003c!-- more --\u003e\n\u003cul class=\"tabs\"\u003e\n\u003cli\u003eDescription\u003c\/li\u003e\n\u003cli id=\"specstab\" style=\"display: none;\"\u003eSpecifications\u003c\/li\u003e\n\u003cli id=\"docstab\" style=\"display: none;\"\u003eDocumentation\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cul class=\"tabs-content\"\u003e\n\u003cli class=\"active\"\u003e\n\u003c!-- Description --\u003e \u003cimg alt=\"\" src=\"https:\/\/cdn.shopify.com\/s\/files\/1\/0655\/8357\/9297\/files\/MK5n_Highlights_1.webp?v=1765998608\"\u003e\u003cbr\u003e\n\u003cp\u003eThe MK5i Swerve Module is the next revolution of the FRC swerve module, with a broad range of advancements over prior generation modules, including:\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eFully gear-driven steering system for additional robustness.\u003c\/li\u003e\n\u003cli\u003eWider wheel for improved traction and tread life.\u003c\/li\u003e\n\u003cli\u003eMachined billet wheel with neoprene tread and molded wheel with molded spike grip tread options (Colson wheel option planned).\u003c\/li\u003e\n\u003cli\u003eQuick-change drive gear ratio accomplished by swapping only the motor pinion gear without internal disassembly of the swerve module.\u003c\/li\u003e\n\u003cli\u003eEnclosed bevel gears at the wheel help ensure field tape, carpet fuzz, and other debris do not end up in the bevel gears and grease.\u003c\/li\u003e\n\u003cli\u003eDrive and steering gears are enclosed in a molded glass-reinforced nylon housing to help keep the grease in and debris out.\u003c\/li\u003e\n\u003cli\u003eSealed main steering bearing helps prevent carpet fuzz and other debris from entering the bearing.\u003c\/li\u003e\n\u003cli\u003eChamfered bottom plate helps transition to driving up inclined surfaces.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003eAdditional new features:\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eOne-piece main steering gear combines three parts (Center Column, Base Pulley, and screw) to simplify assembly.\u003c\/li\u003e\n\u003cli\u003eOne-piece steering double gear combines two gears, one shaft, and one spacer to reduce backlash and simplify assembly.\u003c\/li\u003e\n\u003cli\u003eIntermediate drive shaft has integrated bevel gear to simplify assembly.\u003c\/li\u003e\n\u003cli\u003eMotor pinion gears have integrated motor shaft spacers to simplify assembly.\u003c\/li\u003e\n\u003cli\u003eMotor pinion gears have integrated wrench flats to hold the gear while tightening the shaft screw (no more grabbing the gear with pliers!).\u003c\/li\u003e\n\u003cli\u003eAll machine screws are 10-32 to help minimize the tools needed for assembly.\u003c\/li\u003e\n\u003cli\u003eSteering encoder (not included) is fully recessed and enclosed for improved protection.\u003c\/li\u003e\n\u003cli\u003eSteering encoder wiring (not included) is recessed, and can be secured via an integrated cable tie mount for improved protection.\u003c\/li\u003e\n\u003cli\u003eSelf-aligning housing to ease assembly.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003eOther features:\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eDrive gear ratio changes are accomplished without using profile-shifted gears to help ensure efficient and quiet power transfer.\u003c\/li\u003e\n\u003cli\u003eAll metal plates are made out of 7075-T6 aluminum to help ensure robust construction.\u003c\/li\u003e\n\u003cli\u003eAll drive gears are steel for durability.\u003c\/li\u003e\n\u003cli\u003eWheel is biased to the corner of the drivebase to help maximize robot stability.\u003c\/li\u003e\n\u003cli\u003eOn-axis steering encoder for zero backlash measurements. Module can be disassembled\/reassembled without resetting the encoder offset.\u003c\/li\u003e\n\u003cli\u003eAuxiliary 10-32 mounting holes on the main plate to mount subsystems (e.g., robot superstructure, intakes, mechanism pivot).\u003c\/li\u003e\n\u003cli\u003eAuxiliary 10-32 mounting holes on the housing for camera mounting.\u003c\/li\u003e\n\u003cli\u003eSame frame-to-floor height as previous SDS swerve modules to increase compatibility across the SDS swerve module family.\u003c\/li\u003e\n\u003cli\u003eNo 3D printed parts to help ensure robust construction.\u003c\/li\u003e\n\u003cli\u003eBottom and top mounted robot chassis capability to provide multiple frame height options.\u003c\/li\u003e\n\u003cli\u003eIncludes all hardware, including the hardware to mount the module to the robot.\u003c\/li\u003e\n\u003cli\u003eSteering motor can be either a 44mm or 60mm class brushless motor, such as a Kraken X44, Kraken X60, NEO, or NEO Vortex.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003eThe MK5i includes three different drive gear ratios that provide a broad range of speeds:\u003c\/p\u003e\n\u003cimg alt=\"\" src=\"https:\/\/cdn.shopify.com\/s\/files\/1\/0655\/8357\/9297\/files\/am-5741_KSXXU_2.png?v=1765984188\"\u003e\u003cbr\u003e\n\u003cp\u003eThe steering gear ratio is 26:1\u003c\/p\u003e\n\u003cp\u003eThe swerve module ships unassembled, and the following supported components are not included:\u003c\/p\u003e\n\u003cul\u003e\n\u003cli\u003eDrive motor: WCP\/CTRE Kraken X60.\u003c\/li\u003e\n\u003cli\u003eSteering motor: REV Robotics NEO V1\/V1.1 , REV Robotics NEO Vortex with the 8mm keyed shaft, WCP\/CTRE Kraken X60, or WCP\/CTRE Kraken X44.\u003c\/li\u003e\n\u003cli\u003eSteering encoder: CTRE CANcoder, CTRE SRX Mag Encoder, Thrifty Absolute Magnetic Encoder, Redux HELIUM Canandmag, or equivalent.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cp\u003eNote: The above steering encoders come with the ⌀.250”x 0.500” magnet that gets installed in the swerve module's main steering gear. That magnet is not included in the swerve module kit.\u003c\/p\u003e\n\u003cp\u003eThe production encoder cover will be translucent so the encoder's status lights are visible without removing the cover (pre-production cover shown is opaque black).\u003c\/p\u003e\n\u003cp\u003eThe swerve module can be directly mounted to commonly available 2\" x 1\" aluminum tubing with pre-drilled 10-32 clearance holes on 0.5\" pitch (example).\u003c\/p\u003e\n\u003cp\u003eThe swerve module's main plate typically mounts on top of the robot chassis. However, there is also clearance to mount the chassis on top of the module main plate to maximize ground clearance under the chassis.\u003c\/p\u003e\n\u003cp\u003eWithout the encoder and motors, the MK5i weighs approximately 4.1 pounds. A ready-to-run MK5i weighs approximately 6.1 pounds, which includes:\u003c\/p\u003e\n\u003cul\u003e\n\u003cul\u003e\n\u003cli\u003eComplete swerve module with the bottom plate and chassis mounting hardware\u003c\/li\u003e\n\u003cli\u003eSteering encoder.\u003c\/li\u003e\n\u003cli\u003eSteering motor (Kraken X44).\u003c\/li\u003e\n\u003cli\u003eDrive motor (Kraken X60, or NEO + Spark Max Motor Controller).\u003c\/li\u003e\n\u003cli\u003eChassis mounting hardware.\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003cli\u003e\u003c!-- Specifications --\u003e\u003c\/li\u003e\n\u003cli\u003e\u003c!-- Documentation --\u003e\u003c\/li\u003e\n\u003c\/ul\u003e\n\u003c\/li\u003e\n\u003c\/ul\u003e","brand":"Swerve Drive Specialties","offers":[{"title":"Kraken \/ Yes","offer_id":45166126858412,"sku":"am-5741_KSXXA","price":475.0,"currency_code":"USD","in_stock":false},{"title":"Kraken \/ No","offer_id":45166126891180,"sku":"am-5741_KSXXU","price":395.0,"currency_code":"USD","in_stock":false}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0644\/2303\/5052\/files\/am-5741_KSXXA.jpg?v=1767646448","url":"https:\/\/andymark.com\/products\/sds-mk5i-swerve-module","provider":"AndyMark","version":"1.0","type":"link"}