- omni wheels 4 (10mm diyamwater)
- dc motors 4
· Akrilick frame
· Bluetooth module 2
· arduino bord 2
· jumper cables
omni wheel Features:
- Diameter: 58mm
- Body & Roller Colour: Black & Grey
- Roller Diameter: 13mm
- Body Material: Nylon
- Roller Material: Nylon+PE
- Net Weight: 60g
- Load Capacity: 3Kg
Omni wheels or poly wheels, similar to Mecanum wheels, are wheels with small discs around the circumference which are perpendicular to the turning direction. The effect is that the wheel can be driven with full force, but will also slide laterally with great ease. These wheels are often employed in holonomic drive systems.
A platform employing three omni wheels in a triangular configuration is generally called Kiwi Drive. The Killough platform is similar; so named after Stephen Killough's work with omnidirectional platforms at Oak Ridge National Laboratory. Killough's 1994 design used pairs of wheels mounted in cages at right angles to each other and thereby achieved holonomic movement without using true omni wheels.
They are often used in intelligent robot research for small autonomous robots. In projects such as VEX Robotics, Robocup and FIRST Robotics, many robots use these wheels to have the ability to move in all directions. Omni wheels are also sometimes employed as powered casters for differential drive robots to make turning faster. Omniwheels are often used to allow for movement on the horizontal axis on a drivetrain, as well as forward and backward movement. Usually, this is achieved is by using an H-drive.
Omniwheels combined with conventional wheels provide interesting performance properties, such as on a six-wheeled vehicle employing two conventional wheels on a center axle and four omniwheels on front and rear axles
Brief introduction of Omni-wheel
Omni-directional wheels are unique as they are able to roll freely in two directions .It can ether
roll like a normal wheel or roll laterally using the wheels along its circumference.Omni-direction
wheels allow a robot to convert from a non-holonomic to a holonomic robot.A non-holonomic
robot that uses normal wheels has only 2 out of 3 controllable degrees-of-freedom which
are,moving forward/backwards and rotation.Not being able to move side ways makes a robot
slower and less efficient in reaching its given goal. The holonomic omni-directional wheels are
able to overcome this problem,as it it a highly maneuverable.Unlike normal non-holonomic
robot,the holonomic omni-directional robot can move in an arbitrary direction continuously
without changing the direction of the wheels.It can move back and forth,slidewaysmand rotates
at the same position.