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Re: crab drive vs. mecanum drive system
When basing your decision, remember that they best option for your team may not be the "best" drive train. I know that for our team, in the end we generally choose to go with a 6-wheel bot, not because we lack the capacity to make a more complex holonomic or omnidirectional (I personally dislike mecanum, too little tourque) drive train, but because we know that we can throw our 6-wheeled drive train together in three days, and maintain the full six weeks for developing our manipulation and coding scheme. Part of engineering is not only trying to build the best, but also being pragmatic with time and resource management.
So in short, remember to not only look at the benefits of each drive, but also the costs (from a time and maintence perspective).
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