pic: Team 148 - 2011 - Raptor

[AdamHeard]

Originally Posted by sdcantrell56

While I think its cool shifting wheels instead of shifting gears, I don't really see how it is simpler at all. A transmission is quite compact and requires a small amount of force to shift versus needing enough force to lift the robot to drop down the traction wheels. The only potential benefit I see of this system without the perpendicular omni wheel is the ability to change the center of rotation although the benefit of that wouldn't necessarily be worth the added weight of the system.

JVN given that you ended up taking out the 5th omni wheel would you stick with this drive if you could do it over or go with a more conventional 6 or 8wd with shifting transmission?

From a fabrication standpoint for a team with limited resources, it is far easier. Having worked through the "fun" of getting the speeds right for multiple gearboxes, it is also nice in that it is easier to change the difference between high and low gear.

Utlizing COTS gearboxes and wheels, a team with a drill press (or even a hand drill), could make such a drivetrain.