[asid61]

9.2lbs is a ton for a module like that. These have to be ways to cull the weight. A single speed single cim module should not be more than 8lbs IMO.

However, your module looks like it's hewn from solid rock. So it's never going to break, on the plus side. Definitely a good choice if you want to be careful.

I would flip the cim and use a belt to transfer power to the first stage of transmission and put the a pulley on the drive encoder to engage with the belt. I would also put the turning encoder on a pulley. This will allow the uppermost plate to only have to hold a single bearing.

The side plates on the caster box could be shortened more. The ends don't need to be curved like that either; a long chamfer will remove more weight and be easier to machine.

You can replace the versaplanetary with banebots to cull some pounds but that comes down to personal preference and experience.

Considering the size of the caster box, you could replace the gears with belts or chain, although you would need to broach a pulley from SDP-SI. Worth it for the extra gear reduction you would get, allowing you to use small pulleys on the CIM instead of gears, and then flip the cim.

Skip the 24:48 stage off the versaplanetary ad see if it can be made into a 1:1. Right now it will turn rather slowly, especially for an AM9015.

You can go with a 1/4"-20 bolt for a dead axle instead without hardly changing your design. The gear already floats anyway.

Looking at it again, I'm not sure your weight is correct. Re-material parts and make sure things are aluminum in place of steel, etc.

EDIT: You are geared for around 8.19 fps, it seems. If it's single speed you could consider bumping it up to around 14-15fps, the reason being 8.19fps is way too slow for offense. Swerves can lock themselves in position simply by making the wheels into an X pattern, or even just normal to the opposing robot, playing a very hard defense. Arguably a fast swerve could block better this way by being able to move into their escape path easier. Your call, because 8.19fps does make you into a really good pusher.