Driving Mechanism

Number of
Wheels
Mechanism
Differential
Drive

Ackerman
Steering

Omni
Directional
Drive

Three
Wheels
(Two driven
wheels and
one free
turning)
Four
Wheels
(Two for
driving,
two for
steering)
Three or
Four
wheels

Number
of Motors

Power
provided

Cost
Effective

High

Yes

Relatively
low

Yes

3 or 4

High

No

Based on the information provided by the table above, the team adopt
one of these mechanisms. First, the Differential Drive system rely on
two main driven wheels by two separate motors (one motor for each
wheel) and free turning wheel. Therefore, this system provides a high
amount of power. Furthermore, relying the structure on two motors and
three wheels maintain an inexpensive price in compare to the other
systems. Another suggested system is Ackerman Steering. This
structure is using four wheels; two driving wheels connecting to the
motor and two steering Wheels. The system provides a relatively lower
power compare to the Differential Drive mechanism. The last system is
Omni Directional Drive. The system generally uses three or four Omni
wheels, each wheel attached to a motor. The power obtained is
relatively high due to the use of three or four motors. However, the
wheels used in the structure are expensive resulting in a less costeffective system in comparison with the two other systems.
Therefore, the adopted mechanism is Differential Drive, as this system
provide a reasonable amount of power and its the most inexpensive
structure between the three mechanisms mentioned before.

The concept is simple; Velocity difference between two motors

drive the robot in any required path and direction

Since Omni wheels have smaller wheels attached perpendicular

to the circumference of another bigger wheel, they allow wheels
to move in any direction instantly