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Re: pic: Swerve Module Concept (View 1)
You might consider putting a ring near the bottom of the module which would effectively reduce the lever arm from 3+ inches to under 1/2 inch.
Assuming that a robot can push with 180 LBS force (150 LBS * 1.2 CoF) and that your wheel will not move (is sideways against a lip) ... probably as close to worst case scenario as we need to get ... in your current design you'd see ~ 630 INLB force on the mounting, and if you were to put a ring near the bottom you'd see ~90INLB.
BTW, I'm not picking on the design ... I really like it. I'm just concerned that it will fail at the mount to the frame. ***Gut feeling***
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"We are not now that strength which in old days moved earth and heaven; that which we are, we are;
One equal temper of heroic hearts, Made weak by time and fate, but strong in will
To strive, to seek, to find, and not to yield. "- Tennyson, Ulysses
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