[Ether]

Consider a simple static analysis.

A standard wheel of radius r being driven with torque tau would produce a forward force of tau/r, due to the tau/r reaction force of the floor on the wheel.

The cone-roller wheel of same radius being driven by the same torque would produce the same forward force, but it would lose traction and slip at lower torque levels than the standard wheel, so it would lose a "pushing contest".

Up until the point where the roller starts to slip, the net torque on the roller must be zero. The reaction force of the floor on the roller at the 1" end will be pushing forward (call this force F1) and the reaction force of the floor on the roller at the 2" end will be pushing backward (call this force F2). F1 must be greater than F2 in order to balance the torques on the roller. F1 will be greater than tau/r, so traction will be lost and the roller will start to slip at lower levels of tau than with a standard wheel.

So for pure forward motion, the cone roller is inferior to a simple standard wheel.

And as others have stated, the cone rollers with axes in the same plane as the wheel axis provide no omni capability.

From a kinematic standpoint, any motion of the vehicle in any direction will involve relative motion (scrubbing) at the roller-to-floor contact interface. This will absorb energy and result in lower speeds.

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