Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

The idea here is that you rotate all of the wheels to point in the same direction at the same time, and go at the same speed all the time - mechanically linked, perhaps driven off a single chain. The "base drive" system effectively only translates, never rotates, so there is effectively no wheel slippage on a flat surface. Then, a "superstructure", including the manipulators and the entire electrical system, rotates relative to the "base drive". Note that it would be reasonable to provide high and low gears using a single shifter, since there is already a single mechanical axle (drive for the chain) for all drive energy. The base drive would essentially work like one big swerve module with multiple wheels.

Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

That's essentially a crab drive. I believe 148 in 2008 used a very similar system.

Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

A better example is 118's 2007 robot https://www.youtube.com/watch?v=h3l6Xqts4to or 2008 robot https://www.youtube.com/watch?v=CAJBC-DDL9w, both of which feature crab drive and a rotating super structure

Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

Oh yes, that's the one I was thinking of, not 148. Thank you.

Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

Would it be possible to see this from a few more angles? especially from underneath?

Re: pic: REV 2 of GBX-116, Drill press swerve drive
 

You can download the CAD of the newest version here:
https://drive.google.com/file/d/0BzU...ew?usp=sharing

I no longer have the CAD of this one due to some structural integrity issues oultine earlier in this thread, so it's updated.

If you don't have a CAD program I'll be glad to render some other angles.