Quote:
Originally Posted by Andy Baker
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If I had to pick which omni wheel to use on a FRC robot, I would choose the 6" aluminum omni wheel, and use an Omni Spacer to make them a dualie omni wheel. That is a sweet setup. The polycarbonate wheels are nice, and can handle 2 bearings, but the aluminum wheels take up less space (they are thinner) and they are repairable. The only negative about the aluminum omni wheels is that they only have the ability to have 1 bearing mounted to them, that is unless you add on an extra hub.
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I agree dual 6" aluminum omniwheels are sweet. In '06 my team spent a lot of effort building our own, so it was nice to have the option of buying them from AndyMark last year.
Our '07 chassis used single 6" aluminum AM omniwheels on the corners of a 6WD kitbot, and kit AM wheels in the middle with one CIM per side -- not a defense-oriented drivetrain, but nice for maneuvering. To get around the single bearing limitation Andy mentioned above, we mounted the inboard bearings in the sprockets that drove each omniwheel. This required boring out the center hole in the sprocket to 1.125", which is a relatively easy lathe operation in a standard 3-jaw chuck if the tooth count is a multiple of three.
__________________
Richard Wallace
Mentor since 2011 for FRC 3620 Average Joes (St. Joseph, Michigan)
Mentor 2002-10 for FRC 931 Perpetual Chaos (St. Louis, Missouri)
since 2003
I believe in intuition and inspiration. Imagination is more important than knowledge. For knowledge is limited, whereas imagination embraces the entire world, stimulating progress, giving birth to evolution. It is, strictly speaking, a real factor in scientific research.
(Cosmic Religion : With Other Opinions and Aphorisms (1931) by Albert Einstein, p. 97)