pic: 6 Wheel Drive Render

[Vikesrock]

Originally Posted by gallo26

In theory, with the center wheel dropped, you would lose traction provided by 2 omni wheels. Especially if your CG isn't aligned properly (We also have experience in that)

Not sure exactly what you mean by this. The tractive force the robot can exert is the sum of (normal force*coefficient of friction) for each wheel. The total normal force for all the wheels is fixed and is the weight of your robot. By lowering the center wheel you redistribute the normal force from 2 of the wheels (assuming they are entirely off the ground) across the other 4. If your center wheels have a higher coefficient of friction you will gain tractive force by doing this, not lose it.