Despite it being one of the most compact and lightweight modules available, the MK3 module does not compromise on robustness. MK3 modules use all steel gears for superior wear resistance. Under typical use, the modules will be able to handle multiple seasons of robotics competition. In order to keep weight to a minimum, the steel gears are pocketed.
The MK3 uses a centrally located steering encoder to directly measure steering angle without the use of gears. This eliminates encoder backlash and reduces part count. The module is specifically designed for user favorite CTRE CANcoder or SRX Mag Encoders.
The MK3 module ships unassembled and does not include the motors, encoder, or wheel. When purchasing MK3 modules, you can choose to include the SDS 4 Inch billet wheel for a discounted price of $25. For ease of assembly, the MK3 is put together with only screws. There is not a single nut or snap ring.
REV Robotics NEO motors or Vex Robotics Falcon 500 motors are recommended for the MK3 module. The MK3 is also compatible with VersaPlanetary gearboxes with CIM output shafts. CIM motors are not compatible with the MK3 due to their larger diameter. The MK3 module is available with either NEO 8mm bore pinion gears, or Falcon 500 spline bore pinion gears.
The steering gear ratio of the MK3 is 12.8:1 The MK3 is available with standard or fast drive gearing. The table below shows the drive gear ratios and free speeds with NEO and Falcon 500 motors.
The module easily mounts to common 2X1 frame material. The module typically mounts on top of the robot chassis, however, there is also clearance to mount the chassis on top of the module to maximize ground clearance.
The MK3 module design requires the length of both motor shafts to be reduced by about 0.25in. Alternatively, motor spacers can be used to eliminate the need to cut the motor shafts.
Weight:
- MK3 module with NEO motors and VersaWheel - 4.7 pounds
- MK3 module with NEO motors and SDS Billet Wheel - 4.9 pounds
- MK3 module with Falcon 500 motors and VersaWheel - 5.0 pounds
- MK3 module with Falcon 500 motors and SDS Billet Wheel - 5.2 pound
CAD:
- SDS MK3 Swerve Module, Falcons, HG.x_t
- SDS MK3 Swerve Module, Falcons, HG.STEP
- SDS MK3 Swerve Module, NEOs, LG.x_t
- SDS MK3 Swerve Module, NEOs, LG.STEP
Layout Drawing:
Parts List:
Assembly Guide:
