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Learning Robotics Using Python by Lentin Joseph

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Robot drive mechanism

One of the cost effective solution for mobile robot navigation is differential drive systems. It's one of the simplest drive mechanisms for a mobile robot that is mainly indented for indoor navigation. The differential drive robot consists of two wheels mounted on a common axis controlled by two separate motors. There are two supporting wheels called caster wheels. It ensures stability and weight distribution of the robot. The following diagram shows a typical differential drive system:

Robot drive mechanism

Differential drive system

The next step is to select the mechanical components of this robot drive system, that is, mainly motors, wheels, and ...

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