Quote:
Originally Posted by BBray_T1296
I would like to make the observation that an 'X' shaped omni-wheel drivetrain cannot rotate.
If the center of gravity is along the line of action of all 4 wheels (ie: in the intersection of the 'X' [ie: in the middle]) no wheel can exert a moment on the robot generating rotation.
An 'O' or diamond shaped configuration can turn by moving all wheels clockwise or CCW
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I had to do a bit of googling to learn this, but the term X drive is used in the Vex community for the 4-wheel Omni drive FRC usually calls Killough. If you pay attention to the
axles instead of the wheels, you can see the X.