One-Motor CVT Robot Arm #2 - Differential Drive

AD $2 for 5PCBS, PCBA from $0 (Free Setup, Free Stencil) - Free PCBA Voucher: Last time, I started a project to build a robot arm which only has one main drive motor, and uses a series of clutches to drive three separate axees. I’d built something like this before which controlled a differential-drive robot on two wheels. In that project I built two continuously-variable transmissions using a ball which rotates and binds on two wheels. One wheel is driven by the motor, and the other is the output wheel which touches the ground. As the ball rotates a different length circumference of the ball runs on each wheel which gives us either a reduction or enlargement in velocity. If the ball is rotated in the other direction, we can go into reverse, and there’s a hole in the ball on its very end - so there’s a dead-spot which means we can stop the output. This did however mean that the output wheel could free-wheel in this position. This ti