[Gdeaver]

Can't see inside but, That hole looks like it is for accessing a set screw. The transfer axial should be designed so that the axle is constrained eliminating the need for a set screw. Racking. What is going to keep the lower module from becoming a parallelogram under high stress and load? Did you use thrust bearing for the miter gear loads or are you putting this on the ball bearings? What wheel is that? Allot of cantilevered load for that single mounting plate and those welds. How is this going to be driven? Is it a module or are you going to use a separate power pack? Only way to know what you got is to put it on a fully loaded robot frame and drive the hell out of it. See what wears. Igus bushing instead of bronze?