[cad321]

2386 used mecanum for the first time this year and I too was concerned with suspension/ full wheel contact. In order to help keep our masts from swaying at the front of the robot, we used tensioned steel cables going from the front upper most point to the opposite rear low point. Although this did help with the sway of our masts, it also worked as a phenomenal way of ensuring all wheels were in contact with the ground. if the rear wheels off the ground, we loosened the cable lowering the wheels and vice-versa.

Should we ever go mecanum again, we will most certainly use this method of ensuring the wheels all touch the floor. To make it work you just need a rigid, tall super structure and build some flex into your chassis. Would highly recommend this method to others as it is both simple and easy to execute.