This is starting to get out of my field, however what you say makes sense.
2.5hp on a vehicle carrying a single person would be decidedly energetic depending on the gear ratios.
Wheelchair or electric scooter type motors have the advantage of being cheap being quite common and are probably made to last a long time.
Most of them have a gear that disengages the motor like a freewheel too , which is one other thing about motors primarily designed for robotics that bothers me , as I dont know if the CIM could be used in that way or not .
Would it be possible for example to set the controller so the motor disengages the drive shaft if the wheel spins or moves faster beyond a certain point i.e. if Im going down a hill or slope , but restarts again once the wheels slowed down ?
Or would it be a case of having to turn the motor off altogether if I needed to use it in manual without the motor ?
I was hoping there might be some way I could use the motor like an assist rather than having it direct drive all the time , or having to turn it off , but I think I would need some sort of sensor to do that so it could react to my own input ( walking pace ) rather than just having it set a low speed which is always going to be too fast or slow to be in sync with my own pace.
The guy who was helping me that stole all my parts was using a**broken link removed**with
36v 250w brushless hub motor to see if he could gear it down but I never heard what happened , so I have no idea if it worked.
I do know its possible to use Kelly ok with CIM ( I think ) because
I saw this guy do it , though unlike me he didnt need to go crawling pace, so i have no idea how well it would work in that regard in terms of reducing overall speed.
He also used a toughbox or rather modified 2 into 1 for the 3 motors.
I built a new gearbox out of the two Toughbox's I scavenged. I removed one stage from each gearbox, so that the inpututput ratio was 14:50, rather than (14:50)^2. I chopped up the gearboxes and aluminum-zinc brazed the pieces back together, to get a 3 motor 1 stage gearbox:
snok