Optimal Wheel Placement for 4-wheel drive

[DaveL]

Originally Posted by Lil' Lavery

See this whitepaper:
http://www.chiefdelphi.com/media/papers/1443

Hi All:
In the past 2 years my team has built a 4 wheel, wide robot. It's been great. However this year we want to build a long robot to support the weight of the totes. Since we won't be pushed, I'm considering using 4 or 8 Omni wheels on a long robot.

I've searched for threads on Omni, H-drives and Slide drives. Most of these robots were squarish.
Does anyone have drive experience with all Omni's on a long tank drive robot?
Do we think it will turn well with the KoP motors and transmissions if all wheels are at the same height?
Will robot CG fore/aft placement have a greater affect on 4 or 8 wheel Omni drives than scrub wheels on a tank drive?

Thanks for your help.