Drive Bases

Swerve Drive

  • Each wheel can rotate independently, letting the robot rotate and translate as requested

  • Fast Rotation

  • Higher precision drivebase control

  • Expensive

  • Complex

  • Uses 8 of the 16 power distribution slots

Tank Drive

  • 2-3 Wheels on each side which are either slaved together or driven individually

  • Easy to Design

  • Easy to build

  • Cheap

  • Powerful

  • Sturdy/Stable

  • Turning Difficult and Slow

  • Chain or belt breaking or jamming

  • Less power than true 4wd

  • No Holonomic Capability

Crab Drive

  • Similar to a swerve drive, however wheels are chained together to change their angle

  • Easy to design

  • Fast and precise rotation

  • Single fail point causing entire mechanism to break

Drop Wheel (H-drive/O-drive)

  • Omni wheels in four corners in tank drive configuration, however with one “drop wheel” in the middle to move sideways

  • Also possible to have two wheels in the center at the top and bottom for more powerful and faster strafing

  • Easy to design

  • Cheap budget wise

  • Easy strafing

  • Expensive CIM wise

Omni Wheel Holonomic

  • Three (if robot is triangular) or four (if robot is square) omni wheels in the corners of the robot

  • Driving them at different relative speeds lets the robot move in any direction, and rotate however it wants.

  • Simple mechanics

  • Immediate turning

  • Simple control

  • Minimal pushing power

  • Incline difficulty makes it unsuitable for some games