H Drive

[GeeTwo]

Chaining or belting each pair of wheels with the same center lines automatically distributes the necessary extra torque to the wheel which you're accelerating away from. If you have a CIM for each wheel, it also appropriately redistributes the torque and power of the two CIMS to the two wheels.

Getting the weight load on a strafe wheel correct can also be tricky. This year, we modified a KoP drive train into an H, and ended up pulling the strafe module to minimize weight. Try to make the strafe wheel so that it will carry a defined load, either through a spring or pneumatic cylinder. Using a cylinder also allows you to retract the strafe wheel, which better supports climbing ramps and so forth.