Kiwi Drive Concept

[GeeTwo]

Originally Posted by Alan Anderson

In general, three wheels will always be touching the floor no matter what angle they are at. The two reasons I see for using the nearly flat angle are 1) it lowers the center of mass, and 2) it moves the contact point outward just a little more from the center of the robot.

I believe that the motors are moving upward as much as the wheels and gearbox move down, so I'm not sure about #1.

For #2, this could also be done by putting the motors inboard of the wheels; the wheels could be just a fraction of an inch from the outer frame.