I'm trying to drive a wheel with a radius of 20cm that is 20cm above the motor and horizontally offset by 20cm from the motor, similar to the following:
I wonder what a good linkage might be for a setup like this. I've considered ball joints like below, but I don't think the allowable angle of the shaft is great enough:
I didn't want to go for expensive linkages like those with universal joints. Does anyone know what might be a good linkage for the wheels in this case? The torque required will be around 50Nm.
Any thought appreciated.