Nearly every design I have seen, including ours based on the Wildstang 2001 design, uses two 'half plates' to make up each wheel. In each half plate is milled a 'half slot' that holds the axles of the omni rollers. When the two are bolted together, the omni rollers are captured in the milled out areas of the wheels and the axles are cpatured in the two plates.

Pictars...
 

Since Pictars died I'm not sure if those links still work.

Here are some more pictures.

http://www.chiefdelphi.com/pics/bin/...trickwheel.jpg

http://www.chiefdelphi.com/pics/bin/...46dscf1797.jpg


:)

Re: Post your omni wheeled robot pics
 

very, very cool. you guys use IFI stuff, right?

I wish FIRST would migrate to RC equipment. With the advent of cool stuff like synthesized frequency modulators, all you have to do is 'dial-in' your frequency... and at that point, it's stil cheaper than the IFI systems. meh, YMMV

another great thing about that is that you can use cool stuff like this.

Re: Post your omni wheeled robot pics
 

Here are some pictures of some of the stuff I worked on while on Cornell's Robocup Team:

Exploded view of wheel
Engineering Drawing
Engineering Drawing of Lexan Hub
Engineering Drawing of Roller (small rollers around the wheel)
CAD View of Robot w/ Wheels

- Patrick

Re: Post your omni wheeled robot pics
 

this is what 1083 used this year. http://www.chiefdelphi.com/forums/pi...gle&picid=6118

Re: Post your omni wheeled robot pics
 

though most people use two plates with milled slots, we use three plates. the middle plate in our case was waterjetted with slots to hole .125" steel pin upon which the delrin wheels could spin. this technique saved used tons of time, but i realize not everyone has a waterjet.

another interesting approach was a spherical wheeled kiwi drive that we prototyped extensively but never used. trust me, it's awesome.

kiwi wheel

kiwi drive

spheres

Re: Post your omni wheeled robot pics
 

Re: Post your omni wheeled robot pics
 

We just got some omni wheels and put them on our robot last week and we are currently testing them in replacement of two casters on the back of our robot, i don't have a picture yet but i can get one later this week. This is the first time my team has experimented with omni wheels and if everything works out we might use omni wheels on our 2005 robot if needed.

Re: Post your omni wheeled robot pics
 

S.P.A.M. Used Omni last year
wheel
If anyone has problems with code we have pretty much mastered omni (except for autonomous) Our software team was going to write it up in a white paper but they havn't gotten around to it.

Re: Post your omni wheeled robot pics
 

Here is a picture of the omni wheels we used on our 2004 robot.