Drive Bases

Swerve Drive

  • Each wheel can rotate independently, letting the robot rotate and move however it wants
  • Fast Rotation
  • More precision
  • Expensive (both CIM wise in comp. and money wise)
  • Complex


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