On the Space Technology Association of Rutgers Robotics Team Since 2023. The team is currently building a rover for NASA Lunabotics. Look Below for some project documentation!

I specifically work on the gearbox/motor configuration for the rover. Below are research documents provided on the ideal system. Our decided drivetrain utilizes a tank drive.

Suggested Approach #1- Helical Bevel

We concluded that a helical bevel or right angle gearbox is not the ideal option as we have space for a direct connection between motor, gearbox, and wheel. We also do not want the motor in a position to fail due to dust

Suggested Approach #2: Direct Gearbox, similar to a Ball Shifter

The current agreed approach is to use a direct gearbox, specifically a ball shifter, as our gearbox. Currently, I am conducting an analysis on which gearbox configuration is the best of these three options:

• No gearbox at all

• One gearbox per motor, controlling one wheel

• Multiple motors on one gearbox, controlling both wheels on each side. 

The analysis is attached

The calculations run in the above document has also been converted into Google Colab Code for convenience should anyone in the future need it.