Direct Drive
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, General
| PROS | CONS |
- Lighter → no power transmission system needed
- More compact, allows for a larger chassis
- More reliable → if one motor fails, only that wheel is compromised rather than a whole left/right side of the drivetrain
| - More points of failure by controlling each wheel independently
- Longer wires, require protection
|
Contained in Wheels
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| PROS | CONS |
- Motors are protected from damage
|
→ allows for more rugged testing- while traversing obstacles
| - Requires custom hubs to mount the motors to
- Either have to tear apart COTS wheels or design completely custom wheels
- Probably easier to design custom wheels
|
More points of failure by controlling each wheel independentlyLonger wires, require protectionExternal to wheels
Chain Drive
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| PROS | CONS |
- Easy to install/remove and repair
- Sprockets come in small diameters
- Less likely to skip while carrying heavy loads
| - High maintenance → requires tensioning, cleaning, and lubrication
- Heavy
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