pic: 6 wheel omni directional with a suspension

[Madison]

Perhaps I am misunderstanding the CAD model -- but how is it that the rods act as pivot points? My understanding was that each side pivoted about the omniwheel's axle. Your team's website corroborates that understanding.

Allowing one rod to slide in the mecanum wheel module serves to limit the travel of the suspension -- and any base mounted to would require similarly slotted mounting to remain in place.

This arrangement, however, does not allow for implementation of an independent suspension, as you'd mentioned in other threads, and is the source of my confusion.

If you were to approach a ramp at an angle, one mecanum wheel module would begin to climb and the opposite side, because it's connected by the steel rod, would follow suit -- losing contact with the ground. The vector addition that allows a mecanum drive to travel in a straight line is then lost and you will lose control of the machine.