I recommend you check out this document. 624 actually tried to make a simpler version of nonadrive/butterfly a few years back, and we dubbed the result the "Grasshopper" drive.
http://www.chiefdelphi.com/media/papers/2968?
The experiment was pretty successful, achieving all the strengths of the standard nonadrive setup while being relatively simple and light.
On the idea of the static strafe wheel - we ran that setup in the original iteration. It worked generally fine most of the season, but every now and then we would find a rough spot in the field where we couldn't strafe. In the offseason, when we made it actuate up and down pneumatically, we realized the static version had actually been causing a lot of friction in the drive. As soon as it was lifted up off the ground, we saw significant speed/acceleration improvements and increased battery life. Someone at one of our offseason events even asked if we added another CIM to our drive!