this post was submitted on 02 Dec 2023
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The axis of the motor doesn't need to be parallel to the axis of the wheel.
If the axis of the motor is vertical, you could use a ring and pinion gear to transfer the torque to the driveshaft running out to the wheel, and have the steering wheels pivot around the axis of the motor.
Ok but then torque changes when you turn the wheel. Hopefully the effects are too slight to matter
Please elaborate.
I think they're getting at the fact this design would generate massive amounts of torque steer. With the motor input vertical, any rotation will also try and change your steering direction.
Driving the streering wheels exerts a force on the driving surface. That causes the steering wheels to have a tendency to toe in.
Looking from the top, you could run the motor clockwise on the right side and anti-clockwise on the left to cancel some of that, but the motor has very little leverage compared to the wheels.