Quote:
Originally Posted by Cody Carey
Since surface area has no bearing on friction, I would assume that this would be a bad Idea. By putting the two "sticky" wheels beside each other, you are reducing the amount that the wheel has to be pulled sideways when turning, and increasing the amount that it rolls along the turn. This decreases over all turning friction.
If you were to place them on opposite corners, it would do nothing to the amount that the sticky wheels have to be pulled sideways to follow the circle of your turning radius, and since One wheel has the same amount of friction as two, I wouldn't expect this to solve your problem at all.
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Not true. One wheel with 60 pounds on it has the same amount of friction as 2 wheels with 30 pounds each. However, one can assume that the weight of the robot will be approximately equally distributed across the four wheels, or at least the weight on the omnis will be the same as the weight on the traction wheels. Therefore, the traction wheels have only half as much turning friction as they used to.
Another solution would be to move your wheels closer to the middle of your robot. This increases turning capacity without decreasing traction. However, it causes balance problems, as your wheel base is shorter. Add a few trick wheels or casters that hover just above the ground to fix this problem.