A test using scripted expressions for Fcurve drivers. No armatures are used.
More details included in blend.
The video shows that the shafts and gimbal track properly.
http://www.youtube.com/watch?v=rgYtGy6LX7E
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Nice work, Jeffie! You should make the whole mechanical set with cardans, torsions, pumps, hydro-stuff and all this... Thanks!