Optimal Wheel Placement for 4-wheel drive

[Lil' Lavery]

Originally Posted by DaveL

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.

I'm not fully following your question. Are you looking to use the Omni wheels to achieve holonomic motion? Or just to achieve quicker turning in a scrub steering system?

[DaveL]

Both. First want to be able to turn. Once we can make that happen then get the robot to move sideways.
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