Triple Omni-wheel
FOLLOWERS
926
LIKES
148
Triple Omni-wheel
by astyanax
Download the free Building Instructions for this MOC:
Help Guide - BI File Types
Inspired by this model designed by Yoshihito Isogawa: https://youtu.be/i3mbnKVxi2k
I have copied the design of the wheels, but the arms and central core are my design. The wheels are driven independently, each by their own motor. A fourth motor in the center of the frame controls a new little gimmick: extending the arms!
Entirely useless, but hey, who doesn't love omni-wheels?!
![]()
I'm sharing the virtual model because I believe that especially my design of the central core is interesting, for the following reasons:
The 2nd point is the most non-trivial, I believe. It's surprisingly hard to distribute rotation to the 3 triangular directions equally, such that all transmissions are equally tight and none can skip. If you're interested in this mechanism, please check out the virtual model.
I haven't made actual building instructions because I don't expect there to be much interest in replicating this model as a whole. Besides, I think it can easily be built from the virtual model. Do let me know in the comments below if I'm wrong in these assumptions. :-)
I have copied the design of the wheels, but the arms and central core are my design. The wheels are driven independently, each by their own motor. A fourth motor in the center of the frame controls a new little gimmick: extending the arms!
Entirely useless, but hey, who doesn't love omni-wheels?!
I'm sharing the virtual model because I believe that especially my design of the central core is interesting, for the following reasons:
- Instead of being a large triangle, it's a narrow 6-sided construction, yet it's very stiff and strong and does not twist.
- It houses a PF M motor that drives 3 gear racks simultaneously, yet at the extremes of arm extension/retraction, there is no stalling or grinding -- white 24z clutch gears slip neatly.
The 2nd point is the most non-trivial, I believe. It's surprisingly hard to distribute rotation to the 3 triangular directions equally, such that all transmissions are equally tight and none can skip. If you're interested in this mechanism, please check out the virtual model.
I haven't made actual building instructions because I don't expect there to be much interest in replicating this model as a whole. Besides, I think it can easily be built from the virtual model. Do let me know in the comments below if I'm wrong in these assumptions. :-)
-
Funny, I liked it!
-
Thanks!
-
-
Pointless - which of course is entirely the point. Great engineering and great fun - what more could you ask for from a Lego model?
-
Great. Effective and QUITE stable...
-
... yes in the hands of a competent operator! :-p
-
-
<deleted>
-
I always strive to end with a bang hehe
-
-
Creative
-
Awesome, why would the legs need to extend though, is it faster turning?
-
Oh I should've read it, lol
-
The only reason is that I could haha! RC channels always come in even numbers, so after using 3 for the wheels, what to do with the 4th channel? The entire creation is very contrived, but I had a lot of fun designing the arm extension mechanism!
-
No, I did not.
As I had to make the instructions from the ldr, I didn't know that I had to be careful with some particularities of the model. As everything worked without any problem when I tested it, I didn't make any changes.
By the way, if you want me to send you the instructions (IO & PDF) to publish them, I'm happy to do it. As it's not my model, some steps were not in the right order, but it's easy to correct on the IO.
-
-
-
Already have some of the parts? Use the
Build this MOC page to only show the parts
you are missing.
Waiting for Inventory to load
It works fine using buwizz
Thank you for posting it
I've just posted 6 photos of the moc.
It works fine using Buwizz
I wonder if you've offset each of the 3 layers of banana gear racks, such that none of the 5L axles (24 per wheel) can rotate? Because some of the 72 small wheels seem "wobbly" in your photos.