I've seen these briefly mentioned in a few threads but there hasn't been much meaningful discussion on the use of a tristar (tri-star ?) wheel drivetrain. From what I can tell a few teams used them with great success back in 2004, but since then I don't think any have been used and details on those older robots are sparse. The concept would be similar to this:
http://www.youtube.com/watch?v=XzKo6KE2H5A
My team has created a CAD design for such a creature and now we need to decide if we're going to pull the trigger and use it as our drivetrain, or use a fallback N-wheel-drive skid steer option.
Attached is our CAD. As pictured it's about 25 lbs, so probably about 45 lbs once we get our CIMs and shifting gearboxes.
Thoughts?
But don't forget about the little details, that can (and will) come back to haunt you. - Ben Piecuch [more] 
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