pic: Side view of third try drive.

[Daniel_LaFleur]

Originally Posted by Mr_I

Okay, I'm confused about something (trust me, this isn't an unusual condition): The advantage of mecanum is that you can make the bot go sideways by rotating front and back wheels in different directions. If you chain them together by tying them to the middle wheel, aren't you defeating this potential?

Don't worry about being confused, this is a very advanced drive/suspension system.

(Correct me if I'm wrong with any details)

The 2 chains are not attached together. They are attached to a ball differential which allows them to drive the center (Omni) wheel when moving together and disengages them when the chains are driving in opposite directions (mechanum straifing).

There is also a pivot along the center axel through the omni wheels which allow the robot to keep all of the mechanums in contact with the driving surface even while cliimbing a ramp.

My only question is can it climb a ramp at any angle other than straight on? or will it slide sidewards if not aligned properly?