Innovative Rover Cycloidal Wheel Drive

I’m currently in the process of developing a unique wheel drive system for the Cornell Mars Rover team. This is in very early stages of design and a first run mock-up is shown below. It’s innovative in the fact that the Cycloidal Drive has the “pin flange” held fixed, forcing the intermediate gear to precess, and the casing to rotate as the output. This casing can be directly machined into the hub of a hard wheel and simplifies the design process.