Quote:
Originally Posted by JamesCH95
For all of the analysis that could go into a chassis like that it is simpler to use omni wheels on the corners and be done with it. That frees up all the time and energy saved in chassis analysis for use in more unique challenges.
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Let's look at this a bit more. It's not always as simple as you have stated here. There are situations, or game elements, that do not lend themselves very well to a robot with omni's on the four corners.
If you are playing on a flat surface, then you bet, omni's on the corners is a simple solution. Now, if you want to climb a ramp, or go over a bump, then omni's on the corners add a whole new level of difficulty. I'm not talking so much about traction, but the need to hit the incline squarely. If you are out of alignment by only a few degrees then the robot will tend to slide out, or fall back to the level surface. The steeper the incline, the greater this effect will be.
The bottom line is, make the design decisions based on what you want to achieve in the specific game you will be playing with the robot.