TRACKS UNDERCARRIAGE AND WHEELS DESIGN
Robots with continuous tracks or wheels? Yes, we know it! Sometimes it can be very difficult to correctly choose between wheels and tracks when you build a robot because each locomotion system provides different performances and outputs. The most important topics and features to consider when you have to design a locomotion system are the traction, the driving system (hackermann or skid-steering?), the maximum ground pressure and the suspension system.
If you need a less ground pressure, it is necessary to choose the tracks since they are well suitable for soft surfaces. On the other side, wheels have a significant advantage in steering compared to tracks, and this can be translated into a good maneuverability for the wheels.