[EricH]

Originally Posted by team2061

Our mentor thinks that 6 wheels is better but i personally think that the whole idea of a crab design is to complex.

In this case, you are probably right. 6 wheels is better than four wheels for skid steering, not crab drive. At this point, you should probably not try a crab.

Oh, and the biggest problem with your posted design is that those center wheels had better be omnis, otherwise you won't be able to go sideways (which is the main point of having a crab drive).