Team 3489 Category 5 Presents Storm Drive

[Electronica1]

Originally Posted by Abhishek R

Both have their advantages and disadvantages. It really depends on your end goal. Putting the traction wheels in the center gives you more turning ability with more control over where the robot ends up (no drift due to omni wheels). You would probably be using the omni's to escape a t-bone or something like that.

On the flip side, putting the traction wheels on the outside means you are primarily using the omni's most of the time. I believe this is what most teams who use butterfly do, because of the reasons Andrew Schreiber said - you have a longer wheelbase for stability when you're pushing or being pushed, and are less likely to be spun around.

I am just going to put it out there. When your traction wheel and omni wheel are this close together, wouldn't it make more sense to put packaging of the system over the traction wheel base? Especially for the drive this thread is about, moving the traction wheels to the outside could net you about an extra inch at most of traction wheel base. While moving the traction wheel out would appear to make it more difficult to package.



Also, do you have any video of the drive at competition weight. It would give us a much better idea of this drives capabilities.