[dradius]

well, we spiffed up our robot from first frenzy that had mounted motors on each wheelbase, and the 10 or so gauge wire started to aggrivate me, so i inquired to oceaneering people about it..not too sure.

but hey, the only reason to do it this way is if you have 4 (+ or - depending on the shape) of the same motors and want a TRUE omni with each wheel independently controlled. there are better ways to achieve crab driving if you just configure the chain so that it runs 4 wheels horizontally for rotation on the vertical axis, and then use miter gears going through the wheelbase to connect the chain that will spin the wheels. ive CADded that design some time ago now, and also remember seeing 118 coming close last year. they streamlined it this year by eliminated the tank function and a few other things.