Body averaging of pitch and roll allows Nomad to have greater mobility while maintaining a high level of stability for accurate sensor readings. In Wheel Propulsion Nomad features individual propulsion drive units that reside inside the wheel. This is unlike typical all-terrain vehicles, which have a central drive unit that distributes power to each of the wheels. This allows the drive components to be sealed within the wheel. The motor and drivetrain assembly is at an offset distance below the wheel axle, which lowers the center of gravity of the wheel and simplifies its structural design and bearing selection.
Triangular brackets suspend the drive assembly from the stationary axle.
The motor is accessible for ease of removal and replacement if necessary. In the drive unit a brushless DC motor transmits torque and power to the wheel hub through a harmonic drive and a single stage gearing reduction. The output gear is mounted on the inside face of the outward facing wheel hub. Eliminating mechanical transmission components and coupling assemblies encourages simplicity and thus reliability. Only two bearings are needed to decouple the stationary wheel parts from the moving parts.