[Al Skierkiewicz]

Looks very nice. Imitation is the sincerest form of flattery. The ring at the bottom that we use takes side loads from turning and robot interaction and transfers them directly to the robot frame so that the top bearing does not bind. We incorporate the CIM motors directly into the module and make the module removable from the bottom of the robot. I think a little research will show that the bevel gears are inefficient and may not be suitable for all designs. When you get it built next year, I would like to see it. Please find me if we are at a regional together.