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Originally Posted by Freeze
Imho, an obvious flaw in the trike design you describe is that only one wheel (out of three) controls all movement. If it gets stuck....kaput.
Individual wheel motors would allow for more traction and manueverability.
It also introduces some mobility redundancy (of course at the cost of more motor weight and battery reqts).
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This is a two edged sword. If you have 4wd and one of the four fails your whole vehicle can be disabled. So while you have more redundancy, you also have a higher probability of seeing a failure.
As far as getting stuck... We will have to take measures to insure that it is capable of unsticking itself. That may involve having an auxilary drive system for the rear wheels, very low gear, very low power, that is only used in case of emergency, but not part of the primary drive system. If we can do it with a precious few grams it may well be worth it. If we can make the thing pretty stuck proof under 1G, then .17G should be a breeze.
This is also the primary reason that I want to have multiple small rovers, so we can experiment with the engineering and not have all of our eggs in one basket when we can afford not to.
Bill
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aka
TheBigDog - Hypography Full Freaking Moderator
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