pic: Concept Drive

[RonnieS]

I would flip your gear boxes so that you are at least direct driving one wheel then running chain runs off of that. It would be more reliable and less chain. Also agree with everyone else on the drop center topic.
-Ronnie

[nathannfm]

Originally Posted by Ronnie314

I would flip your gear boxes so that you are at least direct driving one wheel then running chain runs off of that. It would be more reliable and less chain. Also agree with everyone else on the drop center topic.
-Ronnie

Agreed, you could even direct drive all 4 traction wheels and only chain in the Omni, assuming you are not planning on a sprocket reduction. This would ensure popping a chain will never hurt you. Whatever the setup ends up being I would recommend having (possibly redundant) chains between all wheels on a side so that if you are lifted onto 2 or 4 wheels by another robot in a pushing match you will still have full 4 CIM power to the wheels that are touching the ground.