I wrote a white paper in 2004 describing 1114's SimSwerve crab drive; the thread is at
http://www.chiefdelphi.com/forums/sh...ight=simswerve . If you scroll down to post #6, there are some links to some pictures (there are also lots in the white paper itself). Note that the CAD links are no longer active; if you'd really like the models, send me a private message and I can try to dig them up.
And if you're coming to Championship, I'm giving a presentation at the FIRST Conference on Omnidirectional Drive Systems late Friday morning
.