Ultimate Omni Wheels

The Ultimate Omni-Wheels .. V2!Standard omni wheels have two side-by-side wheels made of rollers.Ultimate omni-wheels have a single row of rollers. How? Rollers inside rollers!This is my fancy design, made into my friendly neighborhood robot, Dug! His code is here on github!See this 3d rendering in-browser here on vectary (yeah it loads slow, big files)! Living designThis is a living design. I've designed it parametrically so it's easily adapted to any parameters. Please reach out if you're interested in this, I'd like to help you adapt this for your motors/bearing/sizing!Join my 3D Design discord Robotics Channel! Say hi!V2 is live!V2 is out! It uses a bolt+bushing axle for the small rollers (instead of bearings) which allows for the wheel-holder to be a single-piece, far stronger part! It's also cheaper to build (requires half the bearings) Hardware: Each omni-wheel needsBearings: 10x 8x14x4 mm Uxcell MR148-2RS / MR148ZZ or similar bearings!That's: 14mm OD, 8m