Here are some pictures of a swerve drive that I've been working on. All of the plates are 1/4" thick, but I think that I could get away with making the top one 3/16".
The gears are from an AM cimple box, the hex bearings/sprockets are Vex Pro parts, and the rest are McMaster parts. The miter gears are boston gear l110y, although mcmaster sells almost identical ones for less. The steering motor is a rs550 with a 100:1 versaplanetary gearbox. My main concern is that the bearing set up for the module will not be strong enough. I have a thrust bearing on top of the module to hold the robots weight (can be seen in the last picture), a huge bearing (blue colored) on the lower plate, and a bronze bushing on top. Does anybody know of a team that has used this setup successfully in the past?
Feedback and constructive criticism are appreciated!
So yeah, everyone please remember that lathes are one of the most dangerous machine tools you'll encounter. And keep your hand on the chuck key whenever it's in the chuck. If you never let it go till it's out of the chuck, it's stupendously less likely to take flight. - Kevin Sevcik [more] 
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