pic: Possible Team 114 Drive Component

[Max Lobovsky]

Though it can be very hard to do for a compact drive train like this, in general, you want to isolate your precision parts from your main structural parts that should be bending to some degree. The only real way to do that for a crab drive is having one or two gearboxes for the whole robot chained to each module with power transferred coaxially.

Of course, this is purely a very general design rule and because a bigger concern than weight efficiency is often ease of manufacturing, you may have no choice.