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On the one hand, I hate bevel gears (in FIRST applications especially). They can be done well
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You should try using a set this upcoming season. We build our Revolution Co-Axial style crab/swerve modules with a bevel set using semi-precision components and they work well in my opinion.
We have much more trouble with the roller chain final drive than we do with bevel gear alignment and spacing.
Also, crab and swerve are the same thing to me. King Crab means something, but otherwise I don't adhere to any difference between them.
BTW, thanks to Dr. Joe for bringing us swerve/crab technology in 1998. I was truly blown away and inspired by the design.