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Re: 6WD Pros and Cons
While I haven't used a 6WD system with omnis, I have used both a 6WD "rocker" and a 6WD co-planar (with all 6 traction wheels).
In 2007, 116 used a 6WD with 6 AndyMark performance wheels with blue nitrile roughtop tread, 2 CIMs per side, and AndyMark 2 speed shifters. For VCU and Championship the wheels were coplanar. In low gear the turning was still far better than the "average 4WD kitbot" as it much higher torque. In high gear the turning struggled though.
For IRI we lowered the center wheel 1/8" to improve out turning in high gear (enabling us to use it much for frequently). The turning was actually almost too good, especially in low gear, as the robot would rotate very rapidly when we tried to make fine adjustments to pick up the tubes (even when barely touching the sticks).
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