Quote:
Originally Posted by wilsonmw04
why articulate the motors? It would seem simpler to just move the wheels and leave the motors stationary.
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To do that, you'd have to drive the articulated wheel from the pivot wheel. This would mean either adding belt/chain or an intermediate gear that would engage both the gear on both wheels. To keep the speed ratio spread, you might need three such gears.
Since the force to articulate the wheels has to be sufficient to lift the robot, the extra amount necessary to move the motors is insignificant.