Large, High Torque Swerve Drives

[J_B_Wood]

Hello all,

I wanted to try my hand at designing a swerve drive as a summer CAD/research project, but wanted to do something a little different. Does anyone have any experience with large, high torque swerve drive trains or know of any practical applications of ones that I could look to? Something the scale of, say, a golf cart?

What might be the some of the challenges with scaling up an FRC-style, CIM-powered swerve drive to something much larger and with more powerful motors?

Thanks.