Omnidirectional Wheel

https://youtu.be/hH0az_jqPCA

This is my design of a set of Omnidirectional wheels for CleanBot, a robot I’m working on to brush and clean floors.

A wheel is 48mm in diameter and consists of the following components:
-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, you might as well printed 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”

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