I doone both last year whilst visiting Vegas.
I drove to both as we had a car but like said it is a long drive to do the south rim and even further to do the west rim
Both are national parks now and you have to pay to get into both, quite alot of money too, like said the skywalk is a rip off, you are not allowed to take ANYTHING out onto it, appaerntly the story goes people took stuff out onto it and tried to smash the glass that they where standing on. to be fair though not 50 yards from it you can walk right to the edge and look down the 4000 foot drop.
The west rim you can drive all along it and keep stopping off along the way, very popular and well worth it, the day we went theey had thunder storms so not so good picture wise but still ver spectacular.
Well worth a visit.
spike