You might want to check out our
thread about this robot. The center mechanism is a shock mount. We have wheels we hope will allow us to "drive" up the corner pole of the pyramid. While we think we could have designed for a flat pole pretty easily, we realized that we will need to drive over the cross bars of the pyramid. The "Tri-wheels" Are mounted on shocks which will allow them to rise up as the wheel passes over the cross beam hopefully maintaining traction and keeping the robot from being pushed up off of the pole.