4 Wheel Independent Steering System

In First Robotics a 4-wheel independent steering system is often called a swerve drive and is considered the best drive system possible as it offers both traction, unlike mecanum wheels, and maneuverability, unlike traditional 6 wheel systems (like my teams 2020 robot). The team had always wanted to create a swerve drive and during COVID I decided to take one of my earlier designs for a swerve drive and improve it for use on a future robot. My goal was to reduce part count, make assembly easier and allow for easy maintenance. I came up with the design shown in the photos. The design allowed for easy maintenance by allowing the core to be removed from the top and took advantage of additive manufacturing to make the design simpler and lower the part count.