pic: 1625's swerve module (better pic)

[Aren_Hill]

Originally Posted by A_Reed

how is the lower plate supported? I know it used as a bearing surface, but it is sandwiched between plates or riding on small ball casters. I have always wondered how this work with swerve modules, I understand the rest of it but the lower support plate is the only gap in my limited knowledge of drive systems(I don't go into the kinematics...yet).

the bottom disc is simply supported by 4 tangential pieces of UMHW (ultra high molecular weight) plastic, that we keep white lithium grease on all the time to keep it slick. Rollers are more efficient but take longer to install and are heavier