[Dan Richardson]

The extra contact points in having dualed wheels also help disperse the load for the left to right skidding. We used dual wheels like that for our holonomic ( 1083 Team Emoticons, responsible for the odd " this is how we roll " team advertisement last year at nationals. ) wheels last year ( modified andy-marks ) and it worked wonderfuly. Only problem we ran into was on the sometimes when applying power to the left and right the rubber wheels would bind up against the alluminum when a side tress was put on them. This is not good for holonomic as it provides an additional friction to overcome makes for jerky movements and difficult to keep straight due to the traction issues.

We ended up milling the slots a bit larger in order to places washers in to keep the rubber wheels firm and sliding easier. I don't see this problem occuring with these omni wheels because of the bronze bushings placed on each side seem like they will be able to keep the rubber wheels spinning freely.

Good luck I'd love to see the finished product hopefully you'll post some pictures. I don't have any pictures of our modified wheels or our finished product but omni directional is deffinately a lot of fun.