it's difficult to picture how it works, but one day you just figure it out. shame about the emissions, but it boggles me why mazda still put an EGR valve onto an engine that constantly recycles its own exhaust gas anyway, crazy.
there's a few inaccuracies on the wikipedia site, it says that 'since the rotor is geared directly to the output shaft, there is no need for connecting rods' which isn't true, because the rotor is geared to the side-casing, not the output shaft (which has no gear teeth and has a circular cam lobe inside the rotor instead of a con-rod).
i quite like rotaries, more people are making different versions of them nowadays. i've been reading about a diesel version which has managed to eliminate the exhaust recirculation effect with 2 rotors that sit inside each other and a slider between them, looks promising because it could work with petrol too with way better efficiency than the wankel version.