As stated, Rover started using full time four wheel drive with the first Rangerover in 1970 (actually it was used with a somewhat different system in 1948-50 on the first Landrovers). Originally it was used on the Rangerover to enable the driveline to handle more power (without upgrading diffs) by spreading it between front and rear, but even before the model was released Rover had found that the setup transformed handling and had no significant effect on either performance or fuel economy (not that this was much of an issue with the Rangerover in 1970!).
When the Landrover went to coil springs in 1983, the standard setup was full time four wheel drive the same as the Rangerover, but part time four wheel drive was optional (except on the V8). Effectively, they allowed the market to decide. Despite the fact that by then fuel consumption was far more important, and that the four cylinder petrol and diesel engined models were looking pretty underpowered, the part time option was so rarely specified that it was dropped within a couple of years.
Yes, in theory turning the diff and front prop shaft absorb energy, but when turning them without load, this figure must be pretty small. Balanced against this is that the energy absorbed by the rear drive train is at least partly proportional to the power applied, increasing as the increased torque increases tooth contact pressure and bearing load. If this loss was linear with pressure, then you could assume the loss would be the same whether the power was handled by one or two axles, but it seems very unlikely that it is linear. Almost certainly, there will be additional losses with a single axle driving compared to two axles simply because of increased tyre slippage, although this will be driver dependent. None of these losses are very great, but neither is the loss from the driven front axle.
Quite simply, Landrover and Rangerover users have demonstrated clearly over the last 45 years that there are good reasons for using full time four wheel drive and no significant disadvantages.
What made the change practical is that for full time four wheel drive you really need to have CV joints in the front axle swivels - and by the 1980s, the cost of these had dropped (because front drive cars were becoming the norm) to where the cost of these was no longer a significant concern.
John
John
JDNSW
1986 110 County 3.9 diesel
1970 2a 109 2.25 petrol
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