pic: Cone-Wheel Concept

[JamesCH95]

Originally Posted by Andrew Schreiber

They aren't perpendicular but they won't free spin. They aren't mounted on an axis parallel to the floor. If the whole thing is in contact with the floor there is no way it will spin since the two points touching would try to go different speeds. Picture it as 2 wheels that are different diameters fixed to a common axis but both touching the ground, if you move it they will need to be moving at different rates and since this isn't possible they SHOULDN'T free spin.

I see your point, though it won't slip ONLY when 2 are in contact with the ground, which will be a fraction of the time that the wheel is spinning.

I do not, however, see how this achieves omni-drive because the wheels cannot roll with a component of motion parallel to their drive axle like an omni wheel or Mecanum wheel.