Hex Kiwi Drive

[caume]

Over the past few weeks, I have been working on a hex kiwi drive train. It is a six-sided drive, with an omni wheel on each side. This allows for nearly identical speed and pushing power in every direction. A rough weight estimate of this is ~35lb, without bumpers, battery, or electronics.

Specs:

• 12:64 Drive Ratio
• 4 inch Omni Wheels
• Theoretical Speed: 17 ft/s
• Stall Force: 196-227 lb, depending on direction

If you see any mistakes after looking at this, please let me know! Thanks!