Swerve Drive CAD

[echin]

Here are some pictures of a swerve drive that I worked on over the summer.
All plates are ¼ inch aluminum except for the top of the caster which is ½ inch. Shifting is done with the guts of an AndyMark Super Shifter, and the two speeds are 5.8 fps and 14.9 fps with one cim. The motor and gearbox used for rotation are an AndyMark 9015 motor and a VexPro Versa Planetary 10:1 gearbox. The wheels are AndyMark plaction wheels. There are two CUI encoders, part number AMT102-V KIT on Digi-Key, for recording rotation and wheel position. All other parts are from McMaster, AndyMark, of Vexpro. The total weight of one module would be approximately 8.5 pounds.
All advice and feedback is greatly appreciated.
https://docs.google.com/file/d/0BxrM...it?usp=sharing
https://docs.google.com/file/d/0BxrM...it?usp=sharing
https://docs.google.com/file/d/0BxrM...it?usp=sharing