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Could the 1.5" bore piston be replaced with 2 separate 3/4" bore pistons that are identically mounted but move in opposite directions to achieve the same effect?
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You can use 1 3/4" bore if you wanted, but we only had a 1.5" at the time, and decided why bother replacing it if we already have a mount made for it.
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Can the omnis be replace with traction wheels for more traction or is there too much skid when the wheels orthogonally rotate 90 degrees while the robot is at speed?
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No the omnis cannot be replaced, nor have we tried, because of the skidding it does, when switching the wheels at speed. It would seem to me (which is why we didn't try) that the linkage would probably destroy itself if traction wheels were on it.
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What made you choose this design over a crab style with 1 motor controlling wheel orientation?
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We wanted to do something unique, and we have no experience with crab or omni for that matter. We decided to make an in-between bot that was easier to build than crab, yet stronger than omni
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Are you worried about getting pushed (on purpose, or inadvertently) having all omniwheels?
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No we aren't, if someone pushes us, the only way we would move easily is if pushed perpendicular to the wheels (so along the rollers) in which case, we can switch the wheels. Omni wheels are good for traction when being pushed striaght with the wheels. Overall we should have as much pushing power as any four wheel drive bot, from every direction.
Thanks for the comments everyone!!