pic: 4143 offseason motor in wheel swerve

[asid61]

Looks interesting. Where is that ring gear coming from? If it's custom, it could take a long time to make, even with good manufacturing sponsors.
Second thing I can see is the massive coaxial-style top piece. How is it attached to the cim/wheel assembly? Also, whydid you choose to place gear at the top as opposed to a sprocket or pulley?
I assume the wheel is custom. Is it riding on a bearing or a bronze bushing or a plastic bushing?

Last thing: speed and weight. What are you geared for, and how much does the shown stuff weigh? You should try for 15fps+ to maximize usage of your 4 cims. As for weight, it's really your call, but I like my swerves to be less than 9lbs as a general rule of thumb.

Very nice swerve drive. I like the use of a planetary there. I recommend QTC gears for the ring gear, or even a AM gem ring gear (because it's only $10 and it's hex shaped!). Also, check out this article from QTC on internal gearing: http://www.qtcgears.com/Product-Tech...nformation.htm
It explains the three types of interferance you should seek to avoid, and the number of teeth you need on the planet gears to avoid them.