Team 2338 swerve drive peer review

[AdamHeard]

I looked over the design, and I really suggest some substantial changes.

The sideplates need to be beefier, 1/8" thick with that much removed for a module that tall..... I obviously haven't run the math on it, but I'm leaning towards scary.

The turn table scares me.... a lot. They don't handle sideload well (and even with the bottom support.... there will be sideload) and I just would never trust them in a critical application. I highly, highly, reccomend a bushing or bearring for the module rotation.

The chain run, why does the bottom shaft need to rotate and have external sprockets? you should put the sprockets between the plates, make the very bottom shaft stationary (ideally built in such a way to rigidly attach the sideplates, adding strength) with a wheel that sits on bearrings and a sprocket bolted directly too it.

Good choice on the bevel gears, not sure what factors influenced it, but they're the same gears 118/1625 (and we used on our crab) used.