[gallo26]

Originally Posted by JamesCH95

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.

You shouldn't drop the center if you have omni wheels in the corners of a 6 wheel DT. The omni wheels are there to refrain from dropping the center wheel. We've done this setup for 2 years, and the outcome is great. Amazing mobility with the pushing power you need to get the job done.

In theory, with the center wheel dropped, you would lose traction provided by 2 omni wheels. Especially if your CG isn't aligned properly (We also have experience in that)

Very nice cad! Impressive! Keep it up!