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Four-wheel independent steering, also known as swerve drive, is a form of drivetrain where each wheel of the drivetrain can swivel independently from the chassis, and are each independently powered by its own motor.[1] It and its variations are considered holonomic drivetrains. They are sometimes used in FIRST Robotics Competition robots.
Design
editThere are a few key differences in the design of 4WIS for large vehicles and smaller robots. Large vehicles tend to have a wheel without complete ability to rotate about the z-axis, but smaller robots tend to have wheels underneath the chassis with complete rotational freedom about the Z-axis.[citation needed] There is also a notable difference between systems referred to as 4WIS and swerve drive, being that 4WIS is usually much larger than a swerve drive.
References
edit- ^ Ronci, Mynor Roberto; Artuso Phd, Paola; Bocci, Enrico (2011). "Four Independent Wheels Steering System Analysis". SAE Technical Paper Series. Vol. 1. doi:10.4271/2011-01-0241.