How to build a limited slip differential?

Question

Lego provides a couple of ways for building a differential, such as this:

and also provides a limited-slip gear like this:

http://www.brickowl.com/catalog/lego-technic-differential-with-one-gear-28-tooth-bevel-with-open-center-62821

What's the simplest way to combine the two mechanically such that if you have one motor driving two wheels, they can turn at different speeds (i.e. they aren't locked to each other), but at the same time, they will both receive a reasonable amount of force (i.e. if one wheel does not make contact with the ground, the one that does will still apply some force, as opposed it it not spinning at all and the free-hanging one going at twice the speed)?

The simple solution is to just use some belts to drive both wheels, but I would like a geared solution if possible

Answer 1

If you haven't seen it, Sariel's limited slip differential technique might do what you want, but it's a little different than what you are asking for:

This setup doesn't provide a clean way of producing a fixed amount of torque to a wheel if it's partner is running free. It instead simply disables the differential if the wheels have been running at different speeds for too long. This isn't a perfect solution, but it is very simple and may work for you depending on exactly what you are trying to accomplish.

Answer 2

The question is old, but as noted in the accepted answer ("little different"), that does not actually illustrate how to use the Limited-Slip gear. With the limited-slip gear, you can even do without the differential. Note that the weels are on two different axels and the Limited-Slip gear is on the same axel as the opposite normal 24-tooth gear. The Limited-Slip gear does not touch the Crown gear.

Of course, it is possible to combine this with a differential:

It is also possible to combine the Limited-Slip gear with your type of differential as illustrated here: https://www.eurobricks.com/forum/index.php?/forums/topic/143133-mod-9398-limited-slip-diff-friction/