Originally Posted by joeweber (Post 1077120)

Probably not the best but it worked GRAYT for us. We won two engineering awards for it. Team 1322’s 6 wheel omni direction drive with a suspension. The only thing that would make it better is if we used gear differentials instead of ball differentials. Although it was mechanum wheeled, with the addition of the sets of omni wheels to make it six wheel drive it could push other robots better than a regular mechanum drive system.
http://www.youtube.com/watch?v=7_rtqg838Nc

Originally Posted by JamesCH95 (Post 1077162)

Why did it have differentials?

Originally Posted by EricH (Post 1077177)

The center wheel was linked to both mecanum wheels on its side. The differentials were to allow strafing--mecanums going in opposite directions don't do too well when linked via chain. The differentials went right between the sprockets in the center for the wheel such that when both sprockets were going the same way, the wheel went that way, but when the sprockets didn't go the same way, the wheel didn't turn.