Direct Drive

Anveshak 2020 Nova 2019 MANIPAL 2020

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 Motors are protected from damage → allows for more rugged testing	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 independently Longer wires, require protection

Chain Drive

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

PROS	CONS
Low maintenance → once installed, shouldn't need tensioning, no lubrication required Light	Precise machining required to position the belts properly so that they don't loosen over time Harder to install and uninstall → require accessible openings that's the entire length of the belt Typically rely on pulleys that are larger in diameter to sprockets More likely to skip while carrying heavy loads Fixed lengths of belt