[AustinSchuh]

I've always liked Wildstang's mounting system for their modules. So, when we made a swerve last summer, that's the type we used, more or less. I'll see if I can describe what we did.

Up top, we had a thrust bearing for the weight of the robot, and a bushing for horizontal loads. To take the module out, all we had to do was remove the monster snap ring that held it all together. And then, at the bottom of the module, we had a round sheet metal ring with delrin rubbing on it. The ring was mounted to the robot frame, and the delrin was mounted to the module. By holding the module laterally in two spots, we didn't have to worry about moments up top in the bushing, which made things a lot easier. We were originally going to just use a bushing to hold the weight of the robot, but we found a $6 thrust bearing on McMaster that fit our needs, and it was hard to say no after that.

If you find a picture of Wildstang's module on CD-Media, you'll see them holding the module in two spots like we did.

EDIT: or you can look at the picture that Akash Rastogi posted...

Good luck!