Quote:
Originally Posted by Tottanka
Wouldn't it be easier and better to have 2 gears, with 2 CIMs in each. Each Gearbox controls a pair of wheels?
If im wrong, what do you think are the advantages of a 4 CIMs-in-one-gear?
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The advantage is all in the power distrubution. If you have all four cims in one gearbox, each wheel is taking an equal amount of power when the weight is centralized. If one wheel looses traction (due to a shift in the center of mass) the full power of the drive will still be used (assuming no wheel slipping).
If you had 2 gear boxes on each side if one side of the robot looses traction you effectively loose half your power. Now considering the real world, the odds of your robot loosing complete traction on one side and still being able to drive would be an accomplishment in itself.
Ultimately having a centralized drive does give some advantages for serviceability, and maybe even weight, but I would still prefer 2 serrate gearboxes