We’ve been kicking this around for a bit as an off season project idea. The basic concept is that it would be an exercise in multiple disciplines. It will employ the following:
- Holonomic Drive (4 perpendicular omni wheels) - to explore the capabilities, limitations, and what is otherwise involved in omni directional drive systems
- CAN - to play around with what this can for us in future years
- Sheet Metal - to see just how able we are to do this and hopefully learn some useful techniques applicable for sheet metal and other design
It will also be somewhat of a software exercise, playing around with how to best control omnidirectional drive, as well as getting the CAN to work as desired. We intend to use the 2can, since we’ve heard it has a faster bus than Black Jaguars, and we don’t need a cRio on the robot. When completed, we would hope to use it for demos, protoypes, driving practice, etc. since none of the parts would be in demand during (cRio) and we could hopefully easily attach things to the top.
So, I’m just wondering what sort of comments anyone would have.
Specifically, I’m wondering about the design:
- I’m extremely new to sheet metal, and certainly don’t have any background in analysis of static stress or whatever. Is this design sound? (and, where can I find helpful sheet metal fabrication resources?)
- I’ve been wondering about the way the wheels are mounted. Is it ok to put a quarter of the bot’s weight directly on the output shaft of the gearbox? Should I consider supporting the shaft or using a chain or belt?
- Anything else you may notice or wonder…
The gearboxes are toughbox nanos (am-0518) at 12.75:1. Here is a screenshot of just the bellypan.
You can download a .zip of the Solidworks collection at [https://netfiles.umn.edu/users/siekm008/Shared/demobot/Demo Bot.zip](https://netfiles.umn.edu/users/siekm008/Shared/demobot/Demo Bot.zip).