pic: OmniSwerve chassis Bottom View and Concept Discussion

[Scott Kozutsky]

Originally Posted by Chris is me

I'm really having trouble seeing what this gains over a normal kiwi drive setup.

If you have six motors on it, you're going to have plenty of torque in any direction of travel even if all wheels aren't pointing in the same direction. You'll be able to do advanced maneuvers (simultaneous rotation + translation) with a kiwi drive, but not with this drive.

You'd have one and a half times as much power in any direction ,assuming a power if 1 unit per wheel you'd get 2*cos(30)+1*cos(90)=1.73 to 1*cos(0)+2*cos(60)=2 for kiwi and 3*1=3 for omniswerve. If you have the motors mounted you might as well use them.

You are able to do advanced maneuvers with this because you can just tank turn at any time, there's no scrub from the omni wheels so even with the sub optimal platform it would still work.