Drive System

Needless to say, the drive system is important to a mobile robot. Afterall, a robot is mobile because it has a drive system!

A drive system consists of many components. The following is a logical list of such components, starting with the one that contacts ground:

• tire
• wheel
• axle, bearing
• gear (optional)
• motor
• motor drive circuit
• motor and motion control software

Before we explain each component, this chapter first explains some of the physical laws in driving a robot. Then, each component is discussed.