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Re: which holonomic drivetrain do YOU think is the best any why???
If you can pull off a field-centric, independent swerve drive, it's an amazing experience. It has a slight lag over mecanum wheels (the pods need a small amount of time to spin into position), but it's extremely agile, maneuverable, and depending on your choice of wheels and gearing, can out-push nearly anything.
But to do this, you'll need strong mechanical design, CNC manufacturing and software development resources, as well as a lot more time to develop and debug when compared to simple skid-steer 6WD. It will also take a big bite into your budget - both weight-wise and financial. And with the added quantity of components in the system comes the added chance that something will break.
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