We attempted a very modular crab drive this year (actually our first time building one). Basically the system is broken up into two almost identical modules that can be removed and replaced in the robot with only 4 bolts per side.
Each side module fits inside a 2" x 6" aluminum tube which keeps it compact and also safe since there are no open running chains. Most of the pocketing seen in the pictures is for getting your fingers in there to assemble it and also to just look nice
That being said, they do take patience to assemble! Have some modifications in mind for next time to make assembly easier but overall we were happy with how it turned out.
They also have integrated, fairly simple chain tensioners which serve to also wrap the chain around the drive sprockets in addition to tensioning.
We have a spare module made up to swap in if we have a problem with one of them as well as for display. If you are in Finger Lakes this weekend, or Waterloo stop by to have a closer look. Can't wait to try these babies out in competition!!
Antoine Trabulsi
Lead Mentor
Beaverworx - Team 2609
A little CD goes a loooong way. :) - JaneYoung [more] 
03-03-2009, 08:14
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