Quote:
Originally Posted by Kevin Sevcik
I'm trying to figure out how you're going to turn a standard 4-6 wheel drivetrain into a holonomic setup with omniwheels. Are you going to add a third gearbox with a strafe wheel perpendicular to your normal drive wheels? Otherwise you're talking about a Killough setup where you have 4 gearboxes and 4 omniwheels on diagonals at the corners of your frame. And I don't see how you're getting the standard belting to work with that.
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They could very well go with 4 wheels and 4 gearboxes, which one mounted along each external frame member. The reason why they are frequently packed into the corners is to expand your "footprint" for stability and to increase each contact points' moment arm to the center of mass. But there's no reason a holonomic drivetrain couldn't function with wheels along each edge of the frame.
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