Dual wheel per axle set crab-steer concept

[Andrew Schuetze]

Our team wanted to build a crab steer system for this year but we lacked the experience and pre-season work to pull it off and went with the AM omniwheels in a holonomic drive. It worked and we were proud of our accomomplishment but it lacked polish and a feedback system.

This summer, we are fortunate to have a young, dedicated to the students mentor who is working with a graduating senior and an freshman entering into 10th grade on a summer weekend project. That being the development of the desired crab-steer system.

The engineer has revived his early concept of having a dual wheel set-up for each crab unit. This will require a differential but does allow for a tighter drive motor set up.

What kind of thoughts do you crab designers or just all around gearheads think of such a concept? Shouldn't require much larger turning forces plus it increases the traction even if not the doubling that might be expected from having twice the number of wheels on the floor....