pic: Coaxial Swerve drive, lightened.

[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.