4wd, six wheels?
 

The latest plan for our team seems to be a 4wd system with 6 total wheels. The rear 4 wheels are powered and the two front wheels just spin freely. I don't know how I feel about this and just wanted to see what you guys would think. Each side is powered by 2 cims into a CIMple box. What would you think about switching out the non-powered wheels with omni?

Re: 4wd, six wheels?
 

I'm going to try and keep it simple...:

ChiefDelphi as a whole will strongly suggest that you power all of your wheels. Your tractive force (pushing power) is dependent on your force of friction and thus normal force. If a wheel is contributing normal force but not powered, its weight doesn't get transferred over to your pushing force. I probably explained this in a really inelegant way.

Are the two center wheels dropped relative to the outer ones? I.e. if you take a tape measure and go from the center of the left most shaft and the center of the right most shaft, is the middle lower?

Re: 4wd, six wheels?
 

tread=traction, I am just curious to why the front wheels will not be powered it not that hard and there are lots of benefits to powering all 6 wheels. Is your center dropped? if not use omni's but I HIGHLY recommend that you power all 6 wheels there are great benefits to it!!