Quote:
Originally Posted by Sh1ine
... I am really impressed that the motors are stationary in this design. I feel ignorant, but what separates a swerve drive from a coaxial swerve? ...
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That's the practical point of coaxial - the motor cases are stationary relative to the chassis. Coaxial swerve means that at some point, the steering bearings and the drive axle bearings have the same axis. The far more common configuration is similar to this, where the drive axle goes through the steering bearing.
Also, the wheels look to be 4" diameter, based on a 2.5" diameter CIM.