Okay guys, I am slowly back-engineering the bot I want to build from the book I mentioned earlier. Here's the thing: I want to have a bot with some brute strength. I am looking at the motor situation right now, and I have no idea which way to turn. I am powering all four wheels, instead of just two. If you were doing it, and your bot was going to be pulling some fairly heavy loads through a semi-rough environment, would individually powered wheels be better than a drivetrain?
I volunteer in an arboretum, www.hayesarboretum.org and I do a little bit of everything, from honeysuckle removal to repairing equipment. We have gators, but with as many volunteers as we have, a lot of times they aren't available. That and I like the walking. Some of the things I carry are backpack sprayers with spare stump spray, chainsaws, fencing tools, etc.
Loads will be up to 150 lbs,(68 kg) and the trails are prepared, but mostly wood mulch with some gravel. I am seriously considering a powered trailer with it's own power supply. The design I am considering using is akin to the old big trak toy, with the trailer being gimballed at the top. That way, if I do go with a self-powered trailer, I don't have to worry about any issues except forward and reverse, because the bot will be differentially steered. The trailer will not be a permanent installation either, just when I need it.
The bot will be pretty weighty by itself. I'm figuring close to 200 lbs. I will be using AGM batteries for power, and probably DeWalt power tool battery packs for the electronics with the appropriate voltage regulator. The only reason for that is I already have several, and a burned-out charger that would be ideal for using as a base for hookups.
I'm not too worried about finding a heavy enough motor driver board, because I have several 60 amp solid state relays left over from another project I did at work, and the boss sold them to me for cheap. In fact, I have everything except the wheels, batteries, and motors.
Thanks fof reading!