Help with swerve drive.

[Benj895]

This year we decided to try and make a swerve drive train. It won't go on this year's robot, but we want to get it ready for next year. I've looked online and I have a basic idea on how to make it, but don't know the materials I need to do so. I am trying to achieve these constraints:

• Low cost
• Efficient (What's the best way to the chain the wheels together?)
• Light (What are the lightest materials that will work?)

If anyone has any information that may help in any way, I would greatly appreciate it.