There's also the problem that, for a pass-the-torch arc, Gohan does the less than in any other arc before the fight with Cell, except if you consider Raditz to be its own arc.
Gohan was always in the frontlines, helping, but come the androids, and he becomes another spectator. Are we supposed to believe this guy had to take over from Goku?
Toriyama set it up from the Saiyan saga to be that way. He just wasn't always very good at it and I think it was more evident in some of the filler. (Garlic Jr. etc)