Ok, I willtry my best.
For the horizontal useage of chains, yes. It is done. Here is a rather complicated pic.
here
There is another way. it looks like this
M module in the corners drive sprocket in the "v" of the m.
The single chain slant inward for tension to the only driven sprocket. when it turns all four of the modules turn.
What is a module you ask...
Tytus knows best. Here is a pic of the many posted here on CD. Much help and other pics can be found in the beginning section of the 2003 robot showcase picture galleries.
http://www.chiefdelphi.com/forums/pi...&quiet=Verbose It is driven throught a powered shaft coming werticly throught the center of the module. It takes a 90 degree turn with two gears ans dives a sprocket which chain drives the sprocket on the wheel. The round disk at the top is where the "bevel gear" is. It is run by the horizontal chain. It is a bevel gear I assume because It has the hole in the middle for the wheel drive shaft to go through. It rotates the whole module. There are not teeth shown in the linked pic.
Ok. now the matter of powering the shaft that goes into the modules. Take from the gearbox, the output shaft. Gear it 1:1 four times, so you knwo have 4 different output shafts. Make a reverse gear like your previous threads inclde for each of these shafts. then, make a braking system for these shafts. Like disk brakes on a car. Now, each of the shafts can run at different speeds in forward and reverse. Then you have to get these shafts to each respective module.
This system in my mind is very overweight due to the 4x braking system and 4x reverse gears. Just an idea. Although it may be crazy. It is a challenge.
It would give you what you ask at the price of weight. Also keep in mind that all four wheels will be running off of one motor, or however many you have in your gearbox, which each have a 40 amp limit.
Wew. Done. Sorry if I am unclear it is late. Ask me about the foggy parts. I hope Tyus will make an apperance in this thread too. He knows whats up and down in the swerve world.
PS
lego systems are also shown in the beginning of the 2003 picture gallery, robot showcase. They also give a good swerve module description.