[joshy1323]

in 2006 my team used 6wheel drive with no omni and no lowered center wheel and we learned that when turning our robot bounced around too much. in 2007 we again used a 6wheel with no omni but we did lower the center wheel. in that robot our weight was dispersed outwards horizontally and our robot didnt have any rocking or bouncing problem. however, it turned slowly because the weight was too far from the center of gravity. in 2008 we used the same setup as 2007 but this time we put all our weight as close to the center as possible. we still didnt bounce when turning and we turned much faster, but we did have issues with too much rocking. this year we plan to use 6wheels that are all the same elevation but this time we will use omni for the front 2. i saw someones post that said this will make us too easily turnable. with a 6 wheel drive with a lowered center and no omni the force of static friction is only present on 4 wheels at a time because 2 wheels will always be slightly off the ground. that means we should have the same static friction ratio with a level elevation wheel setup and 2 omni wheels in the front.