I've just posted as a picture the basic drawings of 1640's Pivot. As Foster points out above, these pivots have gone through 6 competitions, 3 extended demos and a great deal of practice driving. They are sturdy and have held up to abuse extremely well.
2010 was our first year of using Pivot drive, but we started down this path last summer with prototyping, mathematical analysis, software development and (CAD) designing. By the time we actually built the working prototype on robot-scale, we had already gotten to version Mk 6c! That said, if you are looking to use pivot next year, you're starting your design process at the right time.
We used roller bearings for the co-axial drive shaft in lieu of ball bearing races. The smaller profile allowed the use of a 1" OD pivot tube.
For more info, see:
http://wiki.team1640.com/index.php?t...VI_Drive_Train