12/26 11/16/03 1:06 PM rover corner wheel
Original image
The outside four rover wheels are custom-manufactured for the PER and are designed to mate with the Hsiang drive motors, almost fully enclosing the motors to ensure good ground clearance. The inside two omnidirectional wheels are capable of spinning in both axes, enabling the rover to move sideways without requiring two additional steering servos to steer the inside wheels in the direction of rover motion.
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