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

[GeeTwo]

Originally Posted by RyanCahoon

I think I follow now. However, it seems to me that you're missing a term in equation 3: the force on the module by the pivot axle's bearings. Without this, you have forces at the wheel pushing up and force at the interface between the gears pushing down (from the frame of reference of the module), so there's an unresolved torque moment that will cause the module to rotate counterclockwise.

By pivot axle, do you mean the drive axle (coming from the motor)? This should be the same magnitude and direction as B, with slight adjustments for supporting the weight of the module and wheels. Because of the constraint of the drive bearings, any linear force (not torque, but that's assumed zero because of the bearings) applied to the module at these bearings can only act on the wheel in the direction shown for B.