As #6838, we have used mecanum wheels for 3 years in a row right now and really enjoy the maneuverability it provides. Our driver really started to master mecanums in order to quickly rotate around defenses and quickly aligning sideways. So, we are trying to improve our mecanum experience with a new drivetrain design.
We are planning to have 4 regular 6" mecanum wheels on all four sides and 2 6" omni wheels in between mecanum wheels. You can see a scheme below. ("+" resembles mecanum and “*” resembles omni wheels.)
__________ +| |+ | | *| |* | | +|________|+
To begin with, I am almost certain that I read about this but we could not find any posts or examples of such a drivetrain. Could you guys tell us about the advantages and disadvantages of such a design and tell us your best practices if you saw or built such a drivetrain.
(Without being very sure, I am planning to have an arcade drive for omnis and a regular cartesian drive for mecanums at the same time. I am a bit concerned if this would damage mecanums as mecanums will move forward at a slower rate as they lose their potential power due to angled rollers. What do you guys think about running arcade + cartesian? )