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omni wheel mobile robot

A plattform to experiment with an omnidirectional drive

Malte AhlersMalte Ahlers
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  • Malte AhlersMalte Ahlers

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Robotics ROBOT omni wheel omnidirectional drive

This project was created on 05/06/2014 and last updated 6 years ago.

Description

I built this robot to gain some experience with the control of a robot with an omnidrectional drive. The omni wheels are cheap ones I bought on ebay. The are driven by three stepper motors with gear boxes. Each stepper has a A4983 driver, the drivers are controlled by an AVR m168. The robot is connected to a PC via RS232.

Details

Components

  • 3 × omni directional wheels
  • 3 × stepper motors with gear boxes
  • 1 × A4983 stepper driver boards
  • 1 × Atmel AVR m168
  • 1 × MAX232 Non-IC RF, IF, RFID, ZigBee Components / Up-Down Converters

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KaiserKC wrote 05/08/2014 at 17:13 • point
Implementation question:
I discussed this with friends once and wasn't sold on the answer. In your opinion, with your triangular wheel placement, in order to drive in a direction parallel with wheel A at speed x, should wheels B and C each be powered to drive at speed x or should B and C each be powered at speed y, where y would be the value representing the sides of the isosceles triangle formed by wheels B and C (the line connecting B and C being the base of the triangle) and x is the height of said triangle? If this makes no sense then i may be able to produce a picture.

  Are you sure? yes | no

Tonkabot wrote 01/22/2015 at 15:47 • point

From memory, if you want to go in direction A at speed x, then wheels B and C should go at .707x . (that's (1/sqrt(2)) *x)

Here is my robot that has been resting for a few too many years now...

  Are you sure? yes | no

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