3 wheel Omni

thingiverse

3 Wheel Omni robot base All 3D printed on CR10-S All bolts are M3 Omni wheels detail can be found here https://www.thingiverse.com/thing:3723077 21st Aug 2019 - Added Sketchup file. Parts 3D printed 1) Baseplate x1 2) Topplate x 1 3) Sidewall1 x 1 4) Sidewall2 x 2 5) Hub1 x 3 (see omni wheel fabrication) 6) Hub2 x 6 (use 2 pcs per wheel) 7) Roller x 54 ( Each wheel consist of 3 x 6 rollers) 8) Steppercoupling2 x 3 9) Stepperhousing x 3 10) Rollercast1 x 2 ( for casting one roller at a time) 11) Rollercast2 x 2 ( for casting two roller at a time) Electronics 1) ArduinoMega 2560 x 1 2) CNC Shield x 1 3) Nema17 Stepper motor x 3 4) Bluetooth module HC-06 x 1 5) 7805 5V regulator ( 5v from the Arduino mega current too low) 6) Sharp IR Sensor GP2Y0A21YK0F x 3 7) Battery +12V 3000mAh x 1 8) Box Fan 60x60x15 12V x 1 9) LED lights x 1 10) Buzzer 5v x 1 Three wheel have stability but lack efficiency and is a challenge to program. Upadate will be available soon on the arduino code and MIT apps. For the rollers : The 3D file rollers are the original design file - for the silicone rubber rollers the mold is 1.05x bigger. Silicone rubber roller casting method: Print the roller cast mold and spray clear arcylic paint on the inside. Mix 50% corn starch and 50% of clear Silicone rubber RTV. Apply the mixture to both side of the mold (fill in extra) Place a 2mm brass rod in the middle. Press two piece together and fasten with M3 screws. Roller should set in 2 to 3 hours.