This is my take on differential swerve. This is a version of Aren Hills design, I just wanted to attempt to make it easier to manufacture with COTs parts. All of the parts can be made pretty with pretty simple operations on a mill and lathe.
2 RS-775s per module
3x0.875" colson (217-4047)
geared for ~15.23 fps
13.04:1 final reduction
64t 16p bevel gear (rushgears BS1664-4)
16t 16p bevel gear (rushgears bs1616-4)
84t vex gear bored out for internal bearings (217-2717)
sg15u bearings for ring gear
rm277 grooved bearing for mounting the module to the frame
link to Aren’s original post: https://www.chiefdelphi.com/media/photos/45484?
this is far from a finished design, i just wanted to prove the concept. let me know what you think. thanks!