[Dan Richardson]

My suggestion to you guys would be, look in the White papers, and also considering contacting teams like 111 Wildstang or 79 Captain Krunch. There are others ( such as 118 the robonauts ) but I know both of those teams produce beautiful versions of what you described, in 2 slightly contrasting methods. They also both produce detailed Inventor drawings of their drives. 79 used the " crab/swerve " drive this year, and wildstand only used it in their front 2 modules. But I'm sure that both of these teams would be willing to answer any questions you may have, or direct you to drawings of what made in the past and problems they have run into.

Tho this drive is a bit more complex than others, if built correctly, with others mistakes in mind, it can be quite a beautiful piece of machinery. It is deffinitely not beyond us FIRSTers, because so many teams have produced these style drives before.