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Unread 20-06-2011, 13:02
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M. Mellott M. Mellott is offline
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AKA: Mike Mellott
FRC #3193 (Falco Tech), FRC #48 (Delphi E.L.I.T.E.), FTC #9980 (FMF)
Team Role: Engineer
 
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Re: Drive train wheels idea

Omnis on all four corners make things difficult--more difficult to control, and lack of ability to resist being pushed or turned.

Perhaps you could put omni/trick wheels only on either the front pair or back pair of wheels and remove the 1/8" center drop. This maintains all 6 powered wheels on the ground at all times, removing the minor rocking due to the drop center, but it increases the manueverability without loosing contol. Teams 48 and 3193 did this with great success this year, using custom 4" treaded wheels (modeled after the AM peformance wheel) with 4" omnis up front. The robot was very maneuverable, very stable, and had no issues being pushed/turned.

Two notes: we made the custom treaded wheels 1.5" wide instead of the standard 1", and we located our main mast/arm at the center of the 4 traction wheels.
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