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what is the need of the upper wheels in the figure shown?enter image description here

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    \$\begingroup\$ You mean the 4 large sprockets? Those give the track angle and height that let it climb obstacles. Haven't you ever seen a tank? Without them, the track would have similar climbing ability to a wheel the same diameter as one of the tiny sprockets. \$\endgroup\$ – DKNguyen Oct 5 '20 at 4:58
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The function of various wheels are as shown:

function

The belt angle is required for movement in uneven terrain (consider stair climbing or climbing over rocks and pits).

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