Accuracy of Omni drive?

[BBray_T1296]

Originally Posted by teslalab2

I was wondering if any one had experience with 4 wheel X shaped omni drive.

Thanks

I would like to make the observation that an 'X' shaped omni-wheel drivetrain cannot rotate.
If the center of gravity is along the line of action of all 4 wheels (ie: in the intersection of the 'X' [ie: in the middle]) no wheel can exert a moment on the robot generating rotation.

An 'O' or diamond shaped configuration can turn by moving all wheels clockwise or CCW