Omniwheel Robot

thingiverse

Introducing a 3D printable omni-wheel robot design featuring 2.75" (70mm) wheels that also are 3D printed; rollers use inexpensive metal ball bearings for smooth operation. The assembly process is straightforward with all parts bolted together. Watch this video for more details: https://www.youtube.com/watch?v=i0rwC_K61vY&feature=youtube_gdata_player For printing, use PLA, 0.2mm layer height, 15% infill, and 2 solid layers on top and bottom with one perimeter. A printer of about 5.5" (140mm) is sufficient. Print the following quantities: - 1x top_deck - 1x bottom_deck - 2x leg_1 - 2x leg_2 - 4x wheel_1 - 4x wheel_2 - 4x hub - 24x roller The lower deck accommodates a 5-cell 4/5A NiMH battery pack (2100mAH recommended). The top deck has a hole pattern designed for an Arduino board, and legs fit Pololu 120:1 plastic right-angle gearboxes. Roller bearings are 3x7x3mm and can be purchased inexpensively from Hobbyking. Mounting hardware includes 4-40x1/4" socket cap screws (available from Microfasteners), with the exception of 2-56x1" socket cap screws and associated lock nuts for mounting gearboxes. Assembly is simple, with clear instructions provided by photos and renderings. For wheel assembly, first bolt hub to wheel_2 part, then attach hub/wheel assembly to gearbox output shaft, and finally bolt wheel_1 part to wheel_2. Rollers can be installed after inserting the ball bearing, but sand or file inner surface of wheels facing rollers for reduced friction before assembly. Bearings press fit into rollers; adjust filament diameter in slicing software if needed. Remember not to overtighten screws as they only thread into plastic.