With this design we combine the traction of treads needed to get up the ramp with the traverse ability of omni-wheels. We need further testing, but this will most likely be our final drive train.

This is a drive train prototype that involves a center grippy-wheel flanked on each side by omni-wheels. All wheels would be powered by chain drive to allow redundancy. With the addition of the grippy-wheel, the robot would gain more traction without sacrificing traverse speed. Unfortunately this design failed because the omni and grippy wheels are different sizes and the inside of our frame lacks sufficient space to chain three separate wheels on one side.

This geared spindle raises the flag. The drop-down rollers on the side of the robot allow our bot to drive along the wall to align with the corner flag. When in position, the 4:1 gear ratio on the spindle system will swiftly raise the flag.