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Re: pic: I was bored... so I designed this.
Just to add a quick point onto Evan's post: A 6WD swerve, in theory should also handle climbing objects a little better, depending on the object and the implementation of the swerve. A 4WD swerve would require quite a bit of ground clearance at the center, which may or may not be advantageous. A 6WD swerve would need ground clearance similar to a conventional 6WD. (For more clarification, look at some of the 4WD robots from 2010 vs the 6WD robots and you'll see what I mean.)
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-Dustin Benedict
2005-2012 - Student & Mentor FRC 816
2012-2014 - Technical Mentor, 2014 Drive Coach FRC 341
Current - Mentor FRC 2729, FRC 708
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