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The next big change was to the drive system. I was really trying to manage the torque and ended up originally making everything extra beefy. Big motors, high amps ESC and everything was under a lot of tension. When I revisited this, I knew I would be operating the droid on either smooth floors or dirt. So, everything got simplified.
[img]<a data-flickr-embed=[/img]![[Image: 51925147543_28b0ecb09f_c.jpg]](https://live.staticflickr.com/65535/51925147543_28b0ecb09f_c.jpg)
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The motors were swapped out for planetary gear motors connected directly to the drive wheels.
Additionally, the drive wheel was modified with sprockets. This allowed the drive wheel to hook the new 3D printed center guide on the tracks.
[img]<a data-flickr-embed=[/img]![[Image: 51856391012_0cbf552da4_c.jpg]](https://live.staticflickr.com/65535/51856391012_0cbf552da4_c.jpg)
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The new track parts are riveted like the original.
[img]<a data-flickr-embed=[/img]![[Image: 51857429598_3fdbbf4075_c.jpg]](https://live.staticflickr.com/65535/51857429598_3fdbbf4075_c.jpg)
" />
[img]<a data-flickr-embed=[/img]![[Image: 51856391042_da64f650e8_c.jpg]](https://live.staticflickr.com/65535/51856391042_da64f650e8_c.jpg)
" />
Here is the test of the new drive system in a more appropriate location.
[img]<a data-flickr-embed=[/img]
" />The motors were swapped out for planetary gear motors connected directly to the drive wheels.
Additionally, the drive wheel was modified with sprockets. This allowed the drive wheel to hook the new 3D printed center guide on the tracks.
[img]<a data-flickr-embed=[/img]
" />The new track parts are riveted like the original.
[img]<a data-flickr-embed=[/img]
" />[img]<a data-flickr-embed=[/img]
" />Here is the test of the new drive system in a more appropriate location.