Nice design!
Just a few questions/comments:
What sort of belts are you using for drive?
What sort of bearings/bushings are being used for the wheel cage rotation, and how far apart are they on the tube?
In the wheel cage, the upper shaft has no bearing. How does this work?
What diameter shaft are you using in the wheel cage?
The top of the module looks really really thin/too weak, you may want to consider making it stronger. If you don't know how thick/wide to make your plates, you can look at 1640's swerve
here, which has a similar wheel cage design.
Also you need to fillet all the right angles, as it makes it considerably stronger/easier to machine.
How are you planning to machine this, out of a solid block of aluminum? (If so, I would recommend a design like
this.)
My biggest concern is the sides of the module getting bent, so I would recommend making that connection stronger, as well as putting some sort of brace on the front/back like 1640 has.