mecanum wheels

mecanum wheels

• iteration of omni-wheels
• all the wheels have parallel turning axis
  • the roller axis angle is 45degrees to the wheel

+ manouverability
+ holonomic drive
+ cool
- not good grip with floor as normal wheels (not good for inclined floor)
- not good for road debris (when rollers stuck you are screwed)
- possibly worse maintenance (more bearings)
- robot can be pushed around (wheel rollers allow robot movement without motor input)
- harder to make (or more expensive to buy)

roller types

|-| = r-2t-1b roller type

= 2 tires 1 bearing in each roller

+ less bearings (cheaper)
+ wheels on sides - better for inclined floor
- bearing fix must be firm (or it can fall out)
- bearing stress not axial - thin bearings can get stuck

-|- = r-1t-2b roller type

= 1 tire 2 bearings in each roller

- no wheels on sides - worse for inclined floor (though mecanum are not good for inclined floor anyway)
+ bearing fix is firm cannot fall off
+ bearing stress is almost axial

|-|-| = r-3t-2b roller type

= 3 tires 2 bearings in each roller

+ wheels on sides - better for inclined floor
+ bearing fix is firm cannot fall off
+ bearing stress is almost axial
- most complicated build

actual mecanum wheel models

it is a good idea to have it generated for different parameters

mecanum with roller type r-2t-1b

• OpenSCAD generator from thingiverse guy gchristopher
• printed test it is good
  • though r-2t-1b have it's problems
    • my bearings were not fixed enough and got loose

mecanum with roller type r-3t-2b

• OpenSCAD generator from thingiverse guy mfinn
• will try