If I was to attempt to make a swerve drive, and wanted my modules to look something like this (
http://www.chiefdelphi.com/media/img...d670c314_l.jpg), how would I go about supporting the module while being strong enough to withstand the side load of being pushed and minimize the friction while rotating the module. Are there a certain type or combination of bearings that would work here? How have your teams dealt with this problem?