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Originally Posted by AlecMataloni
as opposed to the slippery wheels used in a mecanum or omni drive that result in a loss of power/pushing ability.
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Omni and mecanum wheels don't need to be slippery to operate properly. The rollers need to spin freely though. But even with grippier wheels, they lack the pushing force of a standard wheel because the floor reaction forces are larger.
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Our driver has complained about driving our 2010 robot due to its long base. You probably don't want to design a long base swerve robot, because, depending on your design, it can be a hassle to turn the orientation of the robot
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It sounds like what you are describing is crab, not swerve. A swerve has no problem turning with a long wheelbase.