As I continue to ponder this drive system, I drift back to a more complex mechanical system that achieves a similar goal. That being a four wheel steerable system. Chainzilla, 118, used such a system last year. The goal being able to drive the robot in any direction so as to have maximum mobility and control. Having all four wheels spinning in the same direction against a push is always valuable in FIRST as defenders are always present and pushing. I see omniwheels and holonomic drives as a less complex system mechanically but it has the disadvantage of likely being easier to push around
What else do I need to consider or am I over-stating drawbacks to omni-wheels and holonomic drives
APS