pic: GBX-150, CIM-mounted swerve

[asid61]

The main forces on the CIM are thrust loads against the face rather than shear forces, and she shear forces are limited by wheel friction. I'm more worried about the attachment arm. Looking back, I think I can redo the design to use no friction locking at all and use traditional plates, so I might try that next.

VP cycloid should be included in the machining bill, you're right. I like the height savings it provides, mainly.