Best Drivetrain

[Lowfategg]

Originally Posted by EricH

Ah, the 2WD caster system (without the casters). A word of advice--while it works fine, you want the traction wheels under the CG as much as possible. (Or rather, the CG over the traction wheels.) Not too much, but if you have the traction wheels in the rear, you want your CG aft of center. This allows for better control.

Bear in mind that 2WD can be pretty squirrely. You might want a 6WD with a dropped center--it turns kind of like a 2WD, but has extra wheels that will assist in traction.

On our FTC bot this year the CG was a little bit forwards of the rear wheels so it worked well. My guess is if we did an FRC bot next year we would go with a six wheel drive system using omni wheels on outside with traction wheels in the center. Just on another note whats the best kind of omnidirectional drive in the real world and not just looking a pros and cons of the designs of each.