In order to play the advantages of independent wheel drive system and avoid their structural defects

a two-mode variable motor drive system is designed.The theoretical analysis and simulation verify of the operating characteristics of the differential which is the key component in this drive system is carried out.The Study shows that

as a two degree of freedom mechanism

the differential not only play a role of differential in the concentrated drive system

but also ensure that the axle gears independence movement in the independent wheel drive system when the constraints of the shell is removed.Therefore

using differential in variable mode is completely feasible.