Quote:
Originally Posted by z_beeblebrox
Why not? In this force diagram(not to scale), the torques from the front wheels cancel the torque from the back one. The center wheel creates a sideways force while the fore-aft forces from the front wheels cancel.
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This year 1658 used a similar drivetrain design, except with them having two rear omni wheels for strafing instead of one, and they had the strafe wheels on the front of their bot. A video explaining the drivetrain is
here.