pic: Side view of third try drive.

[joeweber]

Originally Posted by Daniel_LaFleur

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?

You are correct the chains are not attached together. Follow some of the links from previous post for video and photos.

Yes it can climb ramps on an angle and does it very well but to make it work on angles we had to add a second set of suspension to the front.