It is a co-axial swerve drive with a motor to each module.
The more unique aspect of it is how it as a small differential inside of each module.
you just may notice that the frame is different in the first photo compared to the last photo. This is because i had revised the frame. The very first photo shown is the actual frame, but with the RCX removed so you can view the gears.
Tell me what you think!
sweet guys…now if I only had a mindstorm kit…oh the possibilities…
do you know you can also use the lego turntables to make a much more compact swerve drive? i just finished a 6 axis arm using 2 rcxs and 6 motors
I did know about this, but unfortunately, my schools massive amount of lego stock didn’t include any turntables…:ahh:
very cool!!!
well well a crab drive on a mindstorms kit.
I never thought i’d see the day but that is pretty impressive. It really makes me want to get off of my bed and look underneath it to crack open my old mindstorms kit. The last thing i ever made with it was a pneumatic arm. I absolutely loved the pneumatics sub-kit.
I spent a long time trying to make a swerve/crab drive out of lego’s 3 years ago, but we didnt have all the parts I wanted, I ended up making a 2 wheel version which was pretty impressive anyways. I now have made several out of vex, i will have to post a picture of my latest one.
give us vids!
ahhh, the old pneumatic legos… those were the COOLEST!!!
they’re on the way… 
