Drive Trains

  One drive train is the tank direct. This is where the motors are hooked directly to the wheels. An advantage to this is that it is easy to make and has rather simple wiring. A disadvantage for this system though is that the wheel is only controlled by the motor so it has less control. It can be somewhat controlled speed wise but not very much, it's mostly straight as fast it can go. Also another disadvantage to this drive system would be that the robot stutters and doesn't have smooth turning. This leads to less control. 

  Another drive train is the geared tank drive. A positive for this drive train is that it uses less motors than a direct geared. Another advantage is that it can have more speed or more power than a direct drive. The problem with that thoug is that if you have more power then it will have less speed or if it has more speed then it will have less power. Another disadvantage is that it is more complicated to set up and this could lead to having problems with getting the directions of the robot right. The geared drive still does stutter and shake like the direct and if you have more gears the robot will be larger and weigh more. 

   Another type of drive train is the holonomic system. This drive train uses four omni wheels and has them positioned at the corners of the robot in a 45 degree angle.  A disadvantage to this drive train is that each wheel must be driven independently. A positive for this robot though is that it is agile and can move around/turn easier. Another disadvantage for this robotic drive train is that it is very complicated to set up and to drive well.  Also a problem for this robot is that it has no potential for any high pushing force.