The Vanguard types make only a glorified camo appearance in Vandread really... the only episode they really get any fame is Episode 5 when the team goes down to a desert planet and some of the female main characters (who otherwise use space fighters) are forced to pilot Vanguards... and modify their machines accordingly with their colors. Otherwise, only the first episode standard Vanguards, used by trainees, comprise the total appearance of the Tsukumo-type. By the time the cast returns to Tarak, it seems the men have designed a new vanguard to use.
Anyway, these are the four vanguards (other than Hibiki's custom) the main characters use. All machines are presented without their armaments (Dita's wrist-mounted machine gun, Barnette's axe, Jura's sword, and Meia's buckle shield).
Meia's Vanguard must be a command type, since Japanese convention for mecha always says anything with a prominent fin is a command type (like the Zaku of the Gundam series). Meia's is the only command-type we're shown, so either it's an uncommon variant or just a shout-out to the convention.
Jura's machine has two of these 'utility elbows' that mount everything from stabbing knives to chainsaws to utility shovels (!). In the English dub, Bart gives a throwaway mention to a 'Ten-in-one knife-shield', which I guessed is what that elbow thing is... it seems to be something close to a swiss-army utility unit.