triangles chasis

[tgurapter]

in the last few weeks I'm modeling a chasis which it's mission is to get on a 6" platfom.
my idea was to creat a chsis with four triangles of 3 6" weels (team 340 built this kind of chasis back in 2004).
I'd like to know if there are other teams who have any experiance with this kind of chasis or someone who have seen 340's chasis and can help me.
and more specificly for those who know the chasis, do I have to motorize the whole triangle and the wheels separately to get on this step, or can I put the triangle on a free shaft and just "Run into" the step and the triangle will allready spin and "climb" the step?
thanks

Tomer
D-Bug 3316

[Alan Anderson]

http://letsmakerobots.com/node/33791 has a good explanation of the "triwheel" concept. You drive only the center shaft, and gears transfer the power to the outer wheels. When a wheel encounters a too-tall obstacle and cannot turn, the entire assembly begins to rotate.

[colin340]

my desk is 40' from that robot let me know what pictures you want

[Akash Rastogi]

1218 also had a triwheel design in 04.

Here it is- http://www.chiefdelphi.com/media/photos/17468
http://www.chiefdelphi.com/media/photos/17025
http://www.chiefdelphi.com/media/photos/17027
http://www.chiefdelphi.com/media/photos/17026
http://www.firstrobotpics.com/wp-content/gallery/2004/1218-1.jpg