Mecanum wheel flexible robot platform

2024-04-29 05:23:45

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Summary

This is my design of a Mecanum wheel (omni wheel) robot platform.
While experimenting with a larger commercial bot, we found that a mecano wheel platform needs to have all four wheels always firmly on the ground.
This design solves the problem by splitting the chassis into two (identical) parts, that are connected with a hinge in the center.

The chassis is designed to twist up to 10 degree in each direction. This allows ca. 1 cm climb height, without ever lifting a wheel from the ground.

Non-printable parts:

4 motors TT-type Also known as GW-130. (They simply snap into place. No screws needed)
two pairs of 48mm mecanum wheels e.g. https://de.aliexpress.com/item/1005005651980933.html

The wheels come with shafts, that nicely fit on the gearbox of the GW-130 motors.
Load on the chassis is transfered to the wheels mainly through a cylindrical protrusion around the shaft. (The entire gearbox is plastics, so I don't trust that to support the bending load)

Planned motor drivers is a quad board with L9110S H-bridge drivers.
The left and right bay have inside 18mm x 60mm space. This nicely accomodates a Li-Ion 18500 cell each.