pic: Madtown Marauders DT of DOOM-2

[artdutra04]

Unless you are using two sets of chains, as the front module goes up and down, the center to center distance between the center wheel axle and the front axle will change. If a single section of chain is used, then this will create tensioning nightmares (sans dynamic tensioning system), as well as issues with clearance heights (if the front dips down, the chain will probably hit the corner of the ramp).

A much simpler solution would be to make the pivot axle concentric with the center axle of the drive train and use a single loop of roller chain.

Also, by using an active system to adjust the angle of the front pivot module, this adds a lot of complexity, and slows down the response time of the system (as it has to sense->think->respond). The robot must get to the ramp, "know" the ramp exists, change the front pivot angle, and then proceed up the ramp.

Compared to a well designed rigid frame robot (with a low and centered center of gravity), which can just gun it up the ramp without any necessary change in the state of the machine, an active flexible frame might actually slow down the performance of the system.