Omni Wheels with KOP Andy Mark Chassis

[sasha831]

Our team wants to create a slide chassis this year, and were considering doing this by switching the 4" KOP wheels provided with 6" omni wheels, and then adding two perpendicular omni wheels in the center, at each end of the frame.

Our question was whether it was possible to connect the omni wheels to the current belt drive system, what interfaces/hubs we would need, and whether or not the belt would interfere with the wheel itself?

Similar to this:
https://www.youtube.com/watch?v=JqJK0E9Jpmk