Using Omni Wheel with Servo Motor

Using Omni Wheel with Servo Motor

This basically we can using omnidirectional wheel with servo, you can glued with
Power Glue between horn servo and omni wheel;

Related Item No. #ME01010 OMNI DIRECTIONAL 4MM (NARP)

Step 1
Start by cleaning up the surfaces you will be gluing. We use a small amount of rubbing
alcohol to denature any grease that may be present on the gluing surfaces.

Step 2
Using the small piece of sandpaper included in your kit, rough up the the faces of the
roller wheels, and sand off the small numbers on the servo wheels.
Don't spend a lot of effort on this, just rough them up for better glue adhesion.

Step 3
Glue each servo wheel face to the roller wheel. Don't use so much glue that you seal up
the hole for the servo mounting screw or muck up the function of the roller wheels.
One trick to make sure you have the wheel aligned is to hold it up to a bright light and
make sure the servo wheel's various circular patterns are concentric in the bore of the wheel.

Using Infrared Proximity as Encoder with Omni Directional Wheel

This page describes how to use a infrared sensor to detect velocity on a robot that uses
an omni-directional wheel as a caster. Such a caster system is described in the
omni-wheel caster idea page.

The sensor stares at the fixed caster wheel. The surface of the omni-directional wheel
is quite bumpy. The infrared sensor is sensitive enough to detect these bumps so the
output of the ranger will vary as the wheel rolls. By checking the sensor at regular intervals
and doing some additional processing, a robot can tell if it is rolling. If the robot detects that
it has no velocity (it is not rolling) when it thinks it should be rolling, it can be reasonably
sure that it hit an obstacle. Then the robot can perform an evasive manuver.

Robot Locomotion with Omni Directional Wheel

There are severals Robot that using the omnidirectional wheels.
t's so interesting for us to try build like this:

1. Three Omni Wheel
This experimental robot uses three omni-directional wheels powered by hacked servos.
It is controllable by standard RC gear. We have a battlebot in the works which may
someday use this kind of drive train.

Explainations:
Top View Robot : schematic drawing of different movement possibilities and the
corresponding speed vectors of an autonomous robot with an omnidirectional
drive based on three omni-wheels.

Speed vectors (Colours Information):
1. Robot white
2. Driven wheel speed green
3. Compensated speed orange
4. Overall wheel speed blue
5. Center of rotation yellow

2. Four Omni Wheel
This robot is ideal for indoor and light duty outdoor activity. The steer using skid steering
(differential steering). By varying the speed or direction of the wheels will allow the robot to turn.
With high tractiontires this is difficult because the tires have to skid. Using the Omni tires allows
easy turns because the wheels allow side slip. This kit should only be used on level ground.
While the robot is plenty powerful to climb hills straight on, if the robot is sideways to a hill,
it will side slip down the hill.

Explainations:
Top View Robot : schematic drawing of different movement possibilities and the corresponding
speed vectors of an autonomous robot with an omnidirectional drive based on four omni-wheels.