pic: Revolution Co-Axial Swerve Module - Team 221 LLC.

[sgreco]

I personally wouldn't be too concerned about the chain, my team went the entire year with a swerve drive and no chain tensioning in the modules and never oncer had a problem with it. My team used 25 chain, which appears to be what it is in the picture, the Robonauts use 35, but either way it shouldn't make a difference. My team's chain did stretch, but through 3 competitions, they never stretched enough to require that they were changed.

It looks really nice though. (Any estimate on cost?)

The only concern I would have whould be on how thin the modules gets at the bottom. I'm not too good at eyeballing, but I'm guessing the side plates are 1/4 inch.