[Tyler2517]

You might have some problems on the yoke(the part holding the wheel) taking large amounts of side loads might cause damage. (ie. you getting rammed) -1640 has a little triangle piece that goes in their side plates that help.

The better the mitter gears's bores are machined the better your efficiency will be this will become noticeable on the field if it is out of a decent tolerance. If you machine gears the placement funky you will see problems. If the shafts for the mitter/gears in the yoke are not straight from the machining processes you will have some problems as well mainly a clean mesh on the mitter gears.

I do not see how you are handling thrust loads from the mitter gears. I also don't see how you handle the thrust loads from the yoke to the main tube.

We ran a single main tube like yours last year it was a 2X3 1/4" thick peace machined down to 1/8" on 3 side the bottom still being 1/4" We did do a lot of weight reduction on the box but we still saw deformation in the box at the end of the season. We think this was due to minor drops when placing it on the field on the cart and such. Remember that sometimes the largest loads you will see will not be in the field but in the pits or shop when something goes wrong and it falls 4 inches on the the shop floor off of its blocks.

Using thinner material will be a death wish to the module remember you are supporting the whole weight of the robot on those 4 tubes plus any shock loads.

I like the idea that its a drill press swerve but making it work on a drill press is not the easyist thing to do. My teams rookies could not make that fresh into the shop you may at the very least be having to use your most experienced team members to do this.

The tolerances needed for a good mitter gear mesh are much higher then most of your frc tolerances. Yes the bearing will help some of it but not all a very well located bore and very straight bore is needed i would recommend when machining the mitter gear bore in the yoke to lock the movement of the x/y and use parallels. Do a large number of tool changes to bore the first side and then the second if you can so that the shaft is straight.

Also the weight seams a bit light ours was 7lbs-5 ounces with heavy weight loss and no gears and only a small thing of #25 chain.