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Originally Posted by pwilczynski
However, Even given that you can try and stay fixed with omni's I think that you wil find your robot being bumped all day.
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Like John, I'm going to try to add some useful information to this thread so we can all speak the same language.
There is actually some truth to this statement.
Using a 4 wheel drive, tank steer machine without omni-wheels can cause a great deal of difficulty turning, so it's common practice to use omni-directional wheels, either in the front or the back (or occasionally front and back) of your machine.
The difficulty in turning occurs because you're trying to essentially slide your wheels in directions they do not want to turn. By adding omni wheels in the front, for instance, these wheels will slide (much more easily) in the lateral direction while you are turning, which reduces current draw and provides a much smoother motion.
However, to get back to the quote, one potential downside is that these omni wheels are ALWAYS easy to slide, and in the case of being bumped (from the side, near the front for example) you can expect your machine to be rotated more easily from side hits than otherwise. This becomes especially apparent when you use 4 omni-wheels on your machine - there's very little to stop you from being pushed all the way across the field when you are hit from the side.
That's my 2 cents. *Plink Plink*
Matt