pic: REV 2 of GBX-116, Drill press swerve drive

[asid61]

Originally Posted by GeeTwo

The idea here is that you rotate all of the wheels to point in the same direction at the same time, and go at the same speed all the time - mechanically linked, perhaps driven off a single chain. The "base drive" system effectively only translates, never rotates, so there is effectively no wheel slippage on a flat surface. Then, a "superstructure", including the manipulators and the entire electrical system, rotates relative to the "base drive". Note that it would be reasonable to provide high and low gears using a single shifter, since there is already a single mechanical axle (drive for the chain) for all drive energy. The base drive would essentially work like one big swerve module with multiple wheels.

That's essentially a crab drive. I believe 148 in 2008 used a very similar system.