My design for a compact, 3-d printed face gear based differential swerve module.
4.5" Tall (without controllers) x 5.4" x 5.4".
2.4" Diam Center-Spur Wheel.
1.5" floor clearance.
All gears are all 14dp 3d printed polymer (TBD for the moment, looking at PEEK)
Two speed model nearing finalization.
Thoughts and comments welcome.