[Bryce2471]

Originally Posted by asid61

That tensioning method could be unreliable. Testing would be paramount, and easier would be to have discrete mounting holes for each tensoning distance.
By "top plate" I mean an upper support. Right now, the only thing keeping the module in place is the weight of the robot. You need to have some kind of way to secure the module from above as well, either by means of a plate on top of the module or by using some kind of loose clamp on the bottom plate.
As for gearboxes, I see what you mean. I'm cadding one like this but shifting right now, and the banebots is considerably lighter than the versaplanetary. However, I hear that they can be unreliable.

Wow! That was a fast response time.

We ran a swerve drive with a setup much like this last year but with two straight slots instead of a hole and a curved slot. We didn't have any issues with it. Truth is, you don't want a whole lot of tension in the first stage of reduction because it will cause resistance.
The caster is held from falling out of the robot is the snap ring groove above the timing pulley. (The groove is hard to see in this render)
I'll look into the reliability of the banebots. Thanks for the heads up.
I think this could be modified to make a great shifting design. I might CAD one up next time I get a notable block of free time.