Swerve Drive and Ball Bearing Questions!

[Shelabot]

This year in Atlanta, I attanded the Swerve Drive Seminar in one of the conference rooms... but cannot remember for the life of me how the actual module was kept in place. I have been looking into ball bearings, and allot of it is frankly over my head. Though after a few hours of researching, I have come to understand that the best way to keep a swerve module constrained to it's axis with no vertical or horizontal movement, are two Angular Contact Bearings, fixed at opposite directions of their... what's the term... perhaps ball angle? I was looking into Radial Contact Bearings, and they seem good too, but they seem to be weaker than the above combination.

Another question in my mind, is how the ball bearings are attatched to the frame and the module. Are they welded on (I have to doubt ) or are they pinned somehow?

If you or your team has any experience or knowledge in Swerve Drives, I would appreciate being thrown a bone here!


( Oi, did I write all that? Two hours ago that would have been complete gibberish to me!)