Omnidirectional Wheel

thingiverse

https://youtu.be/hH0az_jqPCA <iframe width="560" height="315" src="https://www.youtube.com/embed/hH0az_jqPCA" frameborder="0" allow="accelerometer; autoplay; encrypted-media; gyroscope; picture-in-picture" allowfullscreen></iframe> This is my design for a set of Omnidirectional wheels to be used in CleanBot, a robot I'm creating to clean and brush floors. A wheel has a diameter of 48mm and consists of the following parts: -Side plate…4pcs (“side_plate Set.stl”) -Roller…14pcs (“roller x14 plus spacer.stl”) -Spacer…1pc -Vinyl or rubber tube 9mm OD by 6mm ID by 7~9mm long...14pcs** -Universal Aluminium Mounting Hub for 3mm shaft (Pololu #1996)…1pc -M3x25 bolts…4pcs -1.25mmOD steel nail cut to 16mm in length ……14pcs **Alternatively, a TPE or TPU tube can be printed instead from the file “Vinyl tube x 14.stl”. NOTE: If you cannot find an elastomeric tube and cannot print one, or wish to print the Vinyl Tube in the same hard material as the Roller, it's better to print it as a unit from the file “Roller and Vinyl Tube x14 with spacer.stl” and use it instead of the file “roller x 14plus spacer.stl”. Any tips will be greatly appreciated. Thanks for your support. Take care