pic: Coaxial Swerve drive, lightened.

[Joe_Widen]

You could try using Al tubing and be crafty with the cnc mill. It would have zero bolts (...gasp....). Thats how im designing mine atleast. No fancy stuff, no coaxial, just plain old spur gears and motor mounted on each module. Fancy gears are not my friend, especially after using worm gears (a thousand and one to many headaches there), although, I think helical gears are crazy cool. Good Luck to ya.

[Nuttyman54]

Originally Posted by Joe_Widen

You could try using Al tubing and be crafty with the cnc mill. It would have zero bolts (...gasp....).

Maintinence would be a pain though, even more so w/ the extra stuff due to the coaxial design

The gear sytem for said module is a set of bevel gears (under martin sprocket as miter gears.) They give me a 1:1 ratio, which matches all of the ratios in the module. This is to make calculations for the gearboxes (maybe 2 speed?) which are elsewhere on the robot.