This is a sheet metal swerve chassis based heavily off 342’s chassis this year. Each swerve module can drop out of the bottom of the chassis by unscrewing 4 bolts. The modules rotate around an HDPE bushing made from round stock and two HDPE sheets. The sheet metal frame can be cut with a waterjet or CNC router, and only needs 90* flanges. The total weight for the chassis and 4 modules is just under 50 lbs.
Right now it’s geared for 11.3 ft/s adjusted drive and 130 rpm module rotation (w/ 63:1 VP), but these can be adjusted easily by changing the sprocket reduction and VersaPlanetary.
The swerve module: