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drive train
The drive train is essential to move the system in the rough terrain.
The adopted solution minimizes the risk of getting stuck by the fact that
there are tracks on each side of the robot. All tracks of one element are
driven by one motor placed at the center of it. Hence they always run at
the same speed. To transmit the power from the motor to the tracks on the
sides we developed a distribution gear which consists of two stages
combining a worm and a belt gear.
The apparent asymmetry of the tracks
results from the internal construction of the gear. The tracks consist
of polyurethane toothed belts which are robust against mechanical
influences.