History of the Omniwheel in FIRST?
 

This one's for all you long-time FIRST veterans out there.

I would like to find out the earliest recorded design, fabrication, and use of omniwheels (or "trick" wheels, or "wonder" wheels, or "side-slip" wheels, etc.) by a team on a FIRST competition robot. I've been told the concept was used in industry prior to its appearance in FIRST, but which team first put these on a robot? Pics to support any claims would be appreciated, if available.

I searched CD and the earliest reference to "omniwheel" reported was back in 2002. I'm pretty sure they were around before that.

Let the history lesson begin.

Re: History of the Omniwheel in FIRST?
 

I know that we (the members of 190 during the 2001 season) built omni wheels for that robot. We made two discs of lexan, cut in the slots for the rollers, and made tiny segments of threaded aluminum as our rollers (FIRST still let you have metal contact the carpet then).

We had them mounted on the back to move our center of rotation to the front. They worked great. I have pictures somewhere, I'll try to find them later when I go home.

Re: History of the Omniwheel in FIRST?
 

Both HOT (67) and the Technokats (45) used omniwheels in 1998. These are the earliest known omniwheels that I'm aware of.

/edit
Here are pictures of 45 and 67 in 1998. If you look really hard you can make out the omniwheels.

Here's a picture of the omniwheel used by 45 in 1998.

Finally, here's a picture of both omniwheeled robots in action in the National Semifinals at EPCOT. (Aside: Everyone who's interested in this kind of thing should take a look at the Technokats history project on their website. It has some great photos from the good ol' days.)

Re: History of the Omniwheel in FIRST?
 

Ahh, but Travis was asking about "omniwheels", not Wonder-Wheels ;)

(yes, 190's Wonder Wheels were omniwheels, but with a much cooler name)

Re: History of the Omniwheel in FIRST?
 

Ah, here we go. Here's a picture of me demo'ing the robot (note Omni's in back) to some middle schoolers in 2001.

Re: History of the Omniwheel in FIRST?
 

Note that 190 also used Wonder wheels in 1999 and 2000 on their swerve drive chassis with 15 degree-canted, 6" wheels. :]

Re: History of the Omniwheel in FIRST?
 

Aces High had them on their bot in 1999 when they won nationals, the wheels were officially called Adam's wheels, named after Adam Q. who designed the set and who was a high school student and driver that year.