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While I can't really say anything for the staggered rollers, I assume it's so that pressure is held closer to the drive rollers so there is less chance of slack being a factor working against the drive roller. Some kind of a pre-tensioner?
As for the omni wheels, their productivity is two fold (possibly)
When the yellow block connected to the dark blue frame actuates vertically, the Tank-Treads would be lifted and the omni wheels in place.
If each omni wheel is idependantly powered, the bot would be able to have omnidirectional motion and have a smooth 0º turning radius.
If each Omniwheel set is powered by one motor, the bot would not have omnidirectional motion, but would have the smooth 0º turning radius.
According to the description, the tank drive is for slow & high torque applications, while the omniwheels geared for fast lower torque applications. Example: Omni's to get to the objective first, then the tanks for holding it.
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