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Omni wheels
We started the 2002 season with 4WD and skid steering, but not enough power. Immediately following a regional, we manufactured two omni-wheels for the front of our machine and added a swiveling tow-bar. With this progression I can offer a before and after viewpoint.
Pros:
Manueverability: Our 2002 machine went from an unturnable beast to a spinning, driving wonder (comparatively, at least).
Cons:
Traction loss. Our design had to replace existing wheels, resulting in 20 nylon rollers arrranged on the perimeter of an 8.5" aluminum disk. At any time there were perhaps 3-4 rollers 'biting' into the carpet (we left sharp edges on the rollers for just this purpose), but there was some traction loss compared to the original, rubber wheel.
Rough ride. As a new roller came into 'bite' there was a bit of a bounce and a lot of clacking noise. On carpet it was sufficient.
Maneuverability: Double edged sword. Another robot could ram us on either front side and redirect our efforts.
All in all, those omni wheels made for a MUCH better machine. Consider carefully what you give up for what you lose.
Good Luck
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Clay Scales
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