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In both the 3-wheel and 4-wheel cases, the back 2 wheels are motor-driven. The front wheels are rigid castors wheels (they can rotate freely but not turn sideways)[...]Are you saying I should go for 3 wheels since less skid steering (friction)?
In both the 3-wheel and 4-wheel cases, the back 2 wheels are motor-driven. The front wheels are rigid castors wheels (they can rotate freely but not turn sideways)I think for 3 wheels, it shouldn't be easy to tip over , if the robot is wide and has low centre of gravity.I cannot use a ball castor because the robot must be able to travel on concrete pavement (with small cracks)Are you saying I should go for 3 wheels since less skid steering (friction)?
I am afraid that swivel wheels would get stuck at cracks in the concrete. For e.g., one part of the ground could be slightly higher, and if the wheel 'bangs' flat against the higher part, then it might get stuckHow about using an omni-wheel like http://dl.dropbox.com/u/17243832/omni.PNG
true ^^^^but not if it's powered