Drive Systems‎ > ‎

Skid-turn systems

2 wheel drive - This type of drive has only two wheels driven each wheel, driven by at least one motor (A. K. A. 2 wheel tank).
 
Pros
  • Easy to change gear ratios
  • Very flexible
  • Only uses 2 motors
  • Easier to control during the autonomous period
  • Easy to repair
  • Can mix the wheel sizes of the driven and non driven wheels 
  • Not easy to push from side if traditional wheels are used
Cons
  • Can be difficult to skid turn and may require omni wheels on the non-driven wheels
  • The non driven wheels take weight off of the drive wheels-
  • The pivot point is between the drive wheels
  • Does not easily climb field obstacles, ramps, steps, etc. 

Multiple wheel drives -This type of drive has multiple wheels that are driven either directly by a motor or by gears or by chain and sprockets (A. K. A. 4 wheel tank )

Pros
  • Every wheel contributes the traction
  • Pivot point is at the center of the drive system
  • Can utilize multiple motors
  • Effective when climbing field obstacles
  • Not easy to push from the side if traditional wheels are used
Cons
  •  If gears are used the distance between drive shafts are determined by the gears used
  • Multiple motors draw more current and use up motor ports on microcontroller
  • Can be more difficult to repair and more components to fail
  • All the drive wheels need to be close to the same size or they will fight with one another