Thought you guys might find this interesting... 
For one of my introductory engineering courses, I and two other people 
have to design and build a robot capable of foward motion over various 
terrains using two servo motors (cyan).  The catch is that the servo 
motors only output 180 degrees of motion, leaving us to try and figure 
out how to convert this into circular motion.  The design I came up 
looks like a tank and uses gears (red) and ratcheting treads (yellow) to 
keep the robot moving foward on both cycles of the servo motion.  The 
wheels attached to the gears (transparent dark orange) have to be 
semicircles or else they would coincide.  I can get away with with that 
because the motors only rotate them 180 degrees anyway.  There's more 
about it at http://www.creativemechatronics.com 
 
I modeled the design in Rhino and then exported for a pretty POV-Ray 
rendering to give my class a visualization of our project before we 
build it.  The tread and the wheels coincide which is why the wheels 
bleed through the tread.  I didn't bother taking the time to slightly 
offset the tread.  

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