pic: 3 wheel omni drive concept

[GeeTwo]

Originally Posted by Ari423

I agree that in the pic in post 15 it looks to be going through the tube, but in the latest image on the far side there is a hole in the plywood not through the tube. On the other side of the hole there is something metal with a round bore in it, which I assumed was the bearing for the self-righting arm. I could be wrong, but that would mean that the hole for the self-righting arm either isn't modeled in the far tube or isn't at the same height as the one on the near side. I'll wait for some clarification from s_forbes for a final answer.

I took the new circle on the plywood as a bolt to help transfer torque from the plywood to the arm.

Originally Posted by Ari423

What exactly do you mean by "U shafts"? I'm not sure what you are referring to and I am having a hard time picturing how anything U shaped (or not U shaped for that matter) could connect to both arms without having to cross through the center of the robot, which I am assuming was intentionally left open to leave room for a manipulator otherwise there is no room to mount one. Also, I'm not exactly sure what problem you are trying to solve, because I only (intentionally) raised one point in that last post.

I was referring to an arm which mounted onto both uprights, not just one. It would only take up an inch on either side; the would still go across the robot either outside the frame perimeter or above the main robot chassis. This was also in response to your concern about a cantilevered shaft.