I think that glen-l design is very clever. I like the way it folds the drive in half to make it more compact. It also lends itself to multiple motors for redundancy. I would recommend a couple changes to simplify it and add some versatility.
First, I would change from v-belt to toothed belt and remove all the tensioning hardware required for a v-belt.
Second, I would use a toothed belt and pulley on shaft tube so that you could rotate the pod through 360 degrees.
In my case I would also drive the steering tube with a gear-motor or two instead of a linkage.
I really like that simple clever solution. Thanks for the link.
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