pic: Swerve Module Concept (View 2)

[DonRotolo]

OK, I get it - the 'thin' blue shaft is what spins the wheel for tractive force, while the outer 'grey' sleeve rotates within the oragne bushings to steer the wheel. Hm, that's new to me, but I guess it's not that uncommon.

Assuming I have it right now, I guess the 90 degree bend is with a pair of bevel gears?

Ok, thinking out loud now: What if the wheel carrier (fork) was offset partway down, so that the vertical rotating shaft terminated at the bottom next to the wheel axle, and the shaft and axle were coupled by bevel gears. (Is that clear enough? Maybe not).

This would allow the wheel to turn about the vertical shaft with a rolling motion on the ground, instead of a scrubbing motion. The advantage here is that it wouldn't tear up the grass if the wheel turned direction while not moving (driving).

I'd be interested in a JPG of the 6" design you mentioned. I don't have Inventor (any more), so an image will have to do. I'll PM my e-mail address. Thanks!