Mecanum robotics platform for the Raspberry pi

thingiverse

I've been working on a mecanum drive platform with my Raspberry Pi for remote control for the past couple months. The project will soon incorporate sensors. Check out this video of the platform in action: [http://www.youtube.com/watch?v=DRAkcRtQzG0](http://www.youtube.com/watch?v=DRAkcRtQzG0). The code related to the project can be found on my GitHub account at [https://github.com/destos/mecanum-drive/](https://github.com/destos/mecanum-drive/) and [https://github.com/destos/Adafruit-PWM-Servo-Driver-helpers](https://github.com/destos/Adafruit-PWM-Servo-Driver-helpers). If you're building a similar project, feel free to reach out for help. I've detailed the Bill of Materials (BOM) and general requirements below: * Raspberry Pi * Mini breakout breadboard with pi cobbler (e.g., [http://www.adafruit.com/products/914](http://www.adafruit.com/products/914)) * 4x Continuous servos ([http://www.adafruit.com/products/154](http://www.adafruit.com/products/154)) * Adafruit PWM controller ([http://www.adafruit.com/products/815](http://www.adafruit.com/products/815)) * Mini DC/DC Step-Down Converter ([http://www.adafruit.com/products/1065](http://www.adafruit.com/products/1065)) * 2x lithium polymer batteries ([http://www.adafruit.com/products/328](http://www.adafruit.com/products/328)) with JST female connectors and a LiPoly charger * Mecanum roller and hub hardware: 28x R3-2RS bearings (e.g., [http://www.vxb.com/page/bearings/PROD/kit715](http://www.vxb.com/page/bearings/PROD/kit715) or [http://www.thebigbearingstore.com/servlet/the-996/R3-dsh-2RS-R3-dsh-ZZ-Radial-Ball](http://www.thebigbearingstore.com/servlet/the-996/R3-dsh-2RS-R3-dsh-ZZ-Radial-Ball)), 56x 3/16" ID washers, 28x Socket cap screws (McMaster #91251A246), and 28x Lock nut, Hex Locknut (McMaster #90631A011) * 4x round servo arms (mine were laying around and came with other R/C servos; I'll provide a source when I find one) * Spray-on Plasti Dip for higher friction on the rollers Instructions: * Print 28 of mecanum_wheel_nut.STL and 28 of mecanum_wheel_bolt.STL (printable in ABS or PLA). Due to plastic shrinkage, print about 14 at a time with at least one shell for rigidity. * Print 2 of mecanum_base_v3_flipped.STL and 2 of mecanum_base_v3.STL (these will be the "hubs"). More instructions on assembly coming soon!