3 wheel Omni

thingiverse

Here are the details for the 3 Wheel Omni robot base, all printed on a CR10-S. All bolts used are M3. Omni wheels can be found here: https://www.thingiverse.com/thing:3723077. The Sketchup file was added on August 21st, 2019. Parts that were 3D printed include: 1) Baseplate (x1) 2) Topplate (x1) 3) Sidewall1 (x1) 4) Sidewall2 (x2) 5) Hub1 (x3) - See omni wheel fabrication 6) Hub2 (x6) - Use 2 per wheel 7) Roller (x54) - Each wheel consists of three sets of six rollers 8) Steppercoupling2 (x3) 9) Stepperhousing (x3) 10) Rollercast1 (x2) - For casting one roller at a time 11) Rollercast2 (x2) - For casting two rollers at a time Electronics: 1) Arduino Mega 2560 (x1) 2) CNC Shield (x1) 3) Nema17 Stepper motor (x3) 4) Bluetooth module HC-06 (x1) 5) 7805 5V regulator (for the Arduino mega current is too low) 6) Sharp IR Sensor GP2Y0A21YK0F (x3) 7) Battery +12V 3000mAh (x1) 8) Box Fan 60x60x15 12V (x1) 9) LED lights (x1) 10) Buzzer 5v (x1) Three wheels provide stability, but lack efficiency and pose a challenge to program. Updates will be available soon for the Arduino code and MIT apps. For rollers: The original design file for 3D printing is used - the silicone rubber roller mold is 1.05 times bigger. Silicone rubber roller casting method: Print the roller cast mold and spray clear acrylic paint on the inside. Mix 50% corn starch and 50% of clear Silicone rubber RTV. Apply the mixture to both sides of the mold (fill in extra). Place a 2mm brass rod in the middle. Press two pieces together and fasten with M3 screws. The roller should set in 2-3 hours.