The front differential drive is the mechanically simplest and probably most commonly used differential kinematics after the central drive. It consists of two individually controlled drive wheels mounted without suspension in the two front corners of the platform, which carry most of the load. One or two passive castors at the rear of the robot complete the drive. The ROX-Trike usually consists of two swivel castors that guarantee stability while carrying heavy loads, making it suitable for industrial applications. Using only one castor can be justified when the surface is highly irregular, ensuring that the contact with the ground is consistent.
This configuration offers several advantages:
On the other hand, there are some limitations: