pic: Short coaxial swerve module

[Joey Milia]

Originally Posted by glennword

I would suggest investigating worm gears in the future if you wish to bring this design into reality. You can get a nice, high, relatively efficient reduction in a single stage, and it sets you up nicely to go coaxial.

I won't dispute worm gears high reductions but i wouldn't describe them as relatively efficient. The highest efficiently you'll get is 86% with a four lead worm. At best this would be replacing the two stages before the co-axial, a miter stage and a timing belts stage, each around 95% or higher. I too am unsure of the benefits of a horizontal cim for a coaxial swerve but I don't think a worm gear would be beneficial on the Cim motor. However, using a worm gear for the steering motor is a different issue and has more merits in my opinion.