Six Wheel Drive Question

[Joe G.]

Originally Posted by Loose Screw

Is there any benefit to having 6 traction with a drop over 2 traction and 4 omni without a drop?

Yes.

Good traction wheels have more forward/backwards traction than an omniwheel, so for maximum traction, you don't want to compromise by having some of your weight on omnis. Four corner omnis can also lead to unpredictable behavior over non-level surfaces, as there is a chance that the central traction wheels would be lifted off the ground, leaving you on all omnis. Four omnis provides even less turning resistance, enough that it's very easy for others to turn you. The main reason to use a flat 6+wheel drive with some omnis and some traction is to arrange your omnis in such a way that you have a non-central point of rotation, to help generate more favorable turning characteristics for lining up manipulators.

[Loose Screw]

Cool, thank you guys.