2084 Mecanums with Worm Drive

[Tristan Lall]

One thing struck me about that drivetrain design: mechanical efficiency.

With the mecanums being no better than 70% efficient in the forward direction (inherently due to the rollers), the worm gear being about 80% efficient (an educated guess assuming some things about the worm's lead angle and lubrication), and the chain mesh being perhaps 98% efficient, aren't you looking at overall mechanical efficiency (in the forward direction) of only around 55%?

You can obviously climb a bridge effectively and move around on the ground (smooth floor, at least), so maybe it's not such a big deal.