Drivetrain Types

A wheel to which power is transferred and is used to propel the robot forward. Not all wheels are drive wheels, some wheels do not help to move the robot.

• Turning Point

• Drive Scrub

• Drive wheel

The point around which a robot is turning.

• Turning Scrub

• Turning Point

• Radius Turn

All the wheels move in the same direction: forward or backwards. Steering is accomplished by turning the wheels such that all the wheels are positioned in an arc around a single turning point.

• Ackermann "Car Style" Steering

• Skid Steer

• Swerve Drive

is one in which the wheels are not only powered forwards & backwards, but can also be independently steered. This means the robot can turn like a Skid Steer robot, but can also move in any direction by steering its wheels.

• Swerve Drive

• Crab Drive

• Skid Steer

system is one which utilizes two sets of skid-steer drivetrains, each pointed in different directions. Only one of these drives would be on the ground at a given time.

• Skid Steer

• Omni-wheels

• Crab Drive