[AdamHeard]

An overall isometric view and a module view have been uploaded to CD-media.

The main improvement we would make for future iterations is custom cutting sprockets, turning down the bevel gears to save weight, switching to hex shafts (they are currently 3/8" 7075 with 1/8" keyway, wheel sits on a 3/8" 7075 dead axle), adding a second steering chain "tensioner" between the two modules on the outer edge to align the two modules angularly (they are just so slightly out of alignment) and add an adjustable rubber pad to add friction to the steering chain to ease the control loops tuning.

Also, we'd probably switch to heavily pocketed aluminum gearbox plates rather than the delrin. So far the flex has been minimal and hasn't caused any issues (although I suspect the compression from it makes the gearbox slightly less efficient), but I'm concerned of how it will change over time.