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Re: pic: 6 Wheel Drive Render
I would drop the center wheels even with the omni wheels. I like the central location of the battery, it keeps your rotational inertia down.
I would draw in all the fasteners you plan to use to make sure everything is going to be accessible and fit well. McMaster has CAD models of almost every fastener they sell, so start there unless you have a 'smart-fastener' type toolbox available in your CAD program.
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Theory is a nice place, I'd like to go there one day, I hear everything works there.
Maturity is knowing you were an idiot, common sense is trying to not be an idiot, wisdom is knowing that you will still be an idiot.
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