You're better off making your own CIM mount plates and belting those directly to the swerve modules. The fact that you go 12:56 and
then use a large pulley : small pulley means you're not going as fast as you'd like. The difficulty (admittedly) is getting a pulley onto the CIM, yet AndyMark
makes a part for that. It'd save you 2 gearboxes worth of weight and increase efficiency.
The turning belt could use some work --but given that you're trying to keep the center clear and also link opposite corners, some amount of complexity will happen.
Yet by far the biggest concern is the amount of side loading/twisting those swerve mount plates will go through with 140lbs of momentum running around on a field. Is there no way to add a second plate to support the top of the Revolution swerve module column?
If I was making this I would want to not have to use anything smaller than a 3/16" end mill, but 1/8" would be acceptable. Anything smaller and I'd tell the designer to go play in traffic. - Cory [more] 
08-10-2012, 10:27
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