08-11-2014, 11:21 PM
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no bag, vex only, final destination
AKA: Pinecone
 FRC #0228 (GUS Robotics); FRC #2170 (Titanium Tomahawks) Team Role: Mentor
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Join Date: Dec 2008
Rookie Year: 2006
Location: Glastonbury, CT
Posts: 7,589
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Re: Drivetrain Idea - "Box Drive"
The reason H drive has more forward traction than mecanum or omni is because more of the robot's weight is supported on the wheels pointing forwards than the wheels pointing sideways. In this configuration having more sideways wheels cancels out that effect.
With some specific exceptions, simply increasing the number of wheels on the ground does not significantly increase traction. So this drive is going to perform exactly as well as a holonomic 4 omni drive in terms of traction or manuverability.
In addition, once you put more than 4 wheels on the ground you run into problems with maintaining wheels contact. Unless your frame is perfectly rigid with every wheel at exactly the same height (and a perfectly rigid drive doesn't exist) you'll have some wheels supporting far more weight than others, this disproportionately influencing the direction of travel.
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College Mentor: 2791 (2010-2015)
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