There was definitely a thread on a hexagonal swerve chassis a while ago. A google search might bring it up.
2x1 is lighter than 8020, and it's more versatile IMO. 8020 is easier to work with out of the box though.
Swerve module looks good. I have several quesitons for you:
1. Weight and hight of the module? If it's tall enough, you can place a cim facing upwards, which lowers your COG by quite a bit. Weight is often a major issue with swerve drives.
2. Is that a 1/4-20 bolt on the bottom for the wheel? Anything smaller would be dangerous.
3. What is up with the gear on the top? Keep in mind that means that you have to place your turning gearbox very close to the module, and prevents you from flipping the turning module over like the cim. Changing that to a sprocket or pulley would make mounting much easier.
4. What is the total gear ratio from the input to the output? Just wondering. If it's very low, you can swap out the gears going to the wheel for sprockets to get a higher ratio.
5. How are you constraining the bevel gears on the shaft?
6. What is holding the module on its mounting plate? I see a bushing on the top, but what clamps onto the top of the plate? The weight of the robot alone will not keep it on the module.
Apart from those things, I love the design. It looks very easy to put together and take apart, which is very important in many assemblies. It also looks like it limits assembly to just 1 or 2 allen wrenches.
EDIT: Here's the thread:
http://www.chiefdelphi.com/forums/sh...d.php?t=129095
Ignore my posts on chaining stuff together. I did not understand the whole holonomic/ independent motion control with swerves.