Omni-directional Wheel

grabcad

Inspiration came from a picture of a Lego roto-caster. I created the model in SolidWorks to fit a design project for one of my classes. Physical product was 3D printed and assembled using 1/8" dowel.Point of note for the robotic application: the armature should have been mounted on the other end of the chassis - making the drive wheels the 'front' of the unit. This would have greatly improved both manoeuvrability and stability.