Direct Drive, 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

PROS	CONS

ITU Rover 2020

Can still contain the actuator outside of the wheels and protect them within some housing

PROS	CONS
Not constraining the wheel width to be wide enough to fit the motor and gearbox Easy to implement on COTS wheels → no requirement for custom wheels or hubs, maybe a custom interface plate	Less compact design

Chain Drive, General

PROS	CONS
Easy to install/remove and repair Sprockets come in small diameters Reliable, does not slip	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 Fixed lengths of belt More likely to slip when carrying heavy loads and due to vibration, thus reducing its efficiency

PROS	CONS

On this drivetrain, the chain runs through the boxtube for each wheel and uses 3D printed covers to protect the access holes to the wheel sprockets

PROS	CONS
Can position the actuators away from potential harm Easy to mount the actuators	Long wiring + power transmission required = many points of failure To protect would require additional casing/structures, which is more weight