A prototype for a four-wheel-drive robotic vehicle. It uses homokinetic joints on the front wheels and three differential gears to transmit main power to the four wheels. I built it to challenge myself, but even if it works, there are so many frictions I wouldn't suggest this vehicle for any purpose, and for this reason I never finished it into a full robotic vehicle.
The main power is provided by two motors both electrically and mechanically coupled. A third motor controls the steer.
Detail of the front wheels transmission gearing and the steer.
The joint which allows motion to be transferred to the front wheels keeping them free to turn left and right.
The back wheels gearing and the main drive motors. Two of them are both electrically and mechanically coupled to provide enough power.
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