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Differential drive robot with 4 wheels, If for example the back wheels were using different motors than the front ones ( ie : running at a faster/slower speed ) in general, would that generate more moving ( tourqe/force ) than having free ruining wheels instead ? or using free running wheels would be a better option because of the slip related to the slower wheels ?

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  • $\begingroup$ are you asking if 4 motors are better than 2 motors? $\endgroup$
    – jsotola
    Aug 19, 2018 at 15:40
  • $\begingroup$ @jsotola essentially yes, but with keeping in mind that two of them are running at different speeds than the other two, which is pretty much causing slip, since slip in a way is having your wheels running at different speed than the robot. so do i still get some extra push power or that just makes the whole thing worse ? $\endgroup$
    – XEL
    Aug 19, 2018 at 21:48

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Dynamic friction is always lower than static friction. If you are purposefully putting your wheels into a slip mode, then you are putting the wheels into a condition where they have less traction.

For maximum pushing/stopping power, you would want your wheels torqued to the point just before they begin to slip. This is what anti-lock brakes do; an ABS system reduces braking pressure to prevent the wheels from locking up, which maximizes braking power.

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