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Originally Posted by JVN
As you move the wheel from "fast" mode to "torque" mode, do you believe the frictional load caused by sliding the sphere sideways on the carpet will cause issue?
My goal would be to make these as high traction as possible, to get the use out of my torque in the low end. I'm worried that this high traction would seriously impede the movement from high-low and vice versa.
We're talking about a not insignificant amount of force.
Just something to consider. 
This is definitely an interesting concept. I wish I had more time to build a proof-of-concept out of Vex. I hope this gets further developed, and possibly put into practical application.
-JV |
The force required to rotate the sphere would be about the same as that required to move the robot since the rotation is, in effect, acting as little more than another wheel. While moving the robot certainly requires a decent amount of force, it is often not the most difficult task to accomplish on a robot and, given that this rotation need only be ~90*, it is likely possible to accomplish it using some method that, while powerful, is not suited to drivetrains.
I don't think anyone's really done any considerable calculations regarding this; at least not here. I certainly have not. I just tossed the model together as a visual representation of the concept. I have my hands full with something else just now, so I won't be trying to build something like this for a long time to come.
Edit: This reads as if I'm being preachy -- I'm not, since I know you this stuff. I was just being expository.