paper: Analysis of “a torque-actuated module” used for strafing in an H-drive.

[GeeTwo]

Originally Posted by nuclearnerd

I'm still not sure I would prefer a torque-actuated design over the same thing with an air cylinder pushing down, but I guess this would be useful if you don't otherwise have a compressor on the robot.

Brendan,
I would certainly be far more comfortable doing one now that I understand how it works than a week ago when it seemed like voodoo. One of the key takeaways is that this must be a gear-based system; using belts or chains, the forces would not push the wheel into the carpet with the same authority. I have not bothered yet to prove to myself that belt or chain systems cannot work, but I am confident that it would be a lot trickier at best, and would not be surprised to learn that it is impossible.