pic: Prototype Drivetrain v2

[sdcantrell56]

Originally Posted by Jack Jones

Lengthen the omni wheel swing arms and pivot them on the center drive axels. That way the distance between centers remains constant as the arms rotate. Use slot mounted dead axels on the omnis to tension the chains.

Confucius say: Man who think physics is religion must sit in own pew.

Better yet, remove the suspension as it is a solution to a nonexistent problem and greatly complicates things as well as adds more points of failure. There is a lot to be said for simple well thought out designs. Look at any drivetrain from 254/968 for inspiration