I got further into the design this week so I thought I'd share some stats & pictures:
4" mecanum wheel (Agile Mode)
4" RoughTop plaction wheel (Traction Mode)
3 stages of gear reduction: 3.57:1, 1.55:1, and 4.2:1
Mecanum on Stage 2, i.e. 5.52:1 from CIM, 12.6 ft/s
Traction on Stage 3, i.e. 23.18:1 from CIM, 3.2 ft/s
Max pushing force ~170 lbs in Traction mode (limited by 120A breaker)
Dimensions: 8.00" long, 6.63" wide, 6.60" tall.
Weight: 6.28 lbs (includes CIM + pneumatic cylinder)
Mounting interface: 10-32 Tee Nuts on 1" spacing
Mecanum Wheels and wood stiffener plate are only left/right handed parts
(You'll need a Left and Right version of this module to drive mecanum).
The pictures (9 of them) & updated CAD (SolidWorks 2012 native + STEP) are available on GrabCAD:
https://grabcad.com/library/frc-octo...-module-left-1
