pic: Team 691 Drivetrain CAD

[Tytus Gerrish]

Originally Posted by steelerborn

It looks really nice.

I have one question though, I only see two transmissions mounted, are these for the turning of the wheels or the module (I assume the wheels because they are cimple boxes). Just wondering on what you plan to use for the module turning.

it appears to be a coaxial crab drive with drive power supplied to the wheels through a shaft that rides inside the center of the crab module axis. at the top of each module you should see two sets of sprockets. the lower for steering. the upper for propulsion.

the trade off being you can rotate your modules arround and arround forever and not tangle wires, but with mechanical loss in the drive chain limits overall power put to the ground in cpmparison to motor-in module designs