[Bob Steele]

It looks like you guys are well along the way to a great design.

I think you should try this out on a test bed first... make up a plywood frame and put everything on.

I think you may find the use of the AM KOP wheels in the corners will limit your ability to turn somewhat.

You will find that this is exacerbated when you load your robot towards one side or the other .... say if you have an arm or lift extending out which changes your center of gravity.

In an ideal world... the four outside wheels would have little weight on them and then your turning would be easy.

Since FIRST is most definitely NOT an ideal world... when you put weight on them and try to make a turn they will stick to the carpet when you try to make them move sideways while turning... they stick more when there is more of the robot weight on them.

This is precisely why many of the designs above are using omniwheels in the corners.

I would suggest that if you have a lift or an arm on one side of the robot you consider at least putting omni wheels on that side.

Its a great start... a six wheel robot with the center wheels pivoting can be very powerful and also very agile if you make the right decisions on robot weight loading.

Also remember that if you are going to carry the ball... you may also have additional problems if it is not carried directly OVER the axis of rotation which is midway between the center wheels. This will also lever additional weight onto those outside wheels.

Good luck on your robot!!!

R