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Ball shaped omni-wheels? (Patreon)

Published:
2021-05-10 10:11:59
Imported:
2026-06
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Content

Here's next week's video, early for Patrons. This one goes out publicly on Tuesday 18th. This is part 1 of a two-part series, in part 2 I'll be making an actual robot with three of these wheels and driving it around so see how well the wheels work. Pretty surprised how well they seem to work so far though.

Files

Previews only

Are Ball Shaped Wheels Practical? PREVIEW VERSION

A few years ago, Goodyear produced a concept for a tyre, which was a ball. But are ball shaped wheels practical, and can we make a vehicle or robot with ball shapes omni-wheels? I found a video about research carried out at Osaka University, where an omni-ball wheel is made in two halves and seems to work well. But is there more to it? Osaka Uni video: https://www.youtube.com/watch?v=BTp2UAaihaI You can support me on Patreon or buy my Merchandise: *************************** Patreon: https://www.patreon.com/xrobots Merchandise: https://teespring.com/stores/james-bruton *************************** Affiliate links - I will get some money of you use them to sign up or buy something: *************************** Matterhackers 3D printing supplies: http://www.matterhackers.com?aff=7500 Music for your YouTube videos: http://share.epidemicsound.com/xrobots *************************** Other socials: *************************** Instagram: https://www.instagram.com/xrobotsuk Facebook: https://www.facebook.com/xrobotsuk/ Twitter: https://twitter.com/xrobotsuk *************************** CAD and Code for my projects: https://github.com/XRobots Huge thanks to my Patrons, without whom my standard of living would drastically decline. Like, inside out-Farm Foods bag decline. Plus a very special shoutout to Lulzbot, Inc who keep me in LulzBot 3D printers and support me via Patreon. HARDWARE/SOFTWARE Below you can also find a lot of the typical tools, equipment and supplies used in my projects: Filament from: https://www.3dfuel.com/ Lulzbot 3D Printers: http://bit.ly/2Sj6nil Lincoln Electric Welder: https://bit.ly/2Rqhqos CNC Router: https://bit.ly/2QdsNjt Ryobi Tools: http://bit.ly/2RhArcD Axminster Micro Lathe: http://bit.ly/2Sj6eeN 3D Printer Filament: http://bit.ly/2PdcdUu Soldering Iron: http://bit.ly/2DrNWDR Vectric CNC Software: http://bit.ly/2zxpZqv Why not join my community, who are mostly made up of actual geniuses. There’s a Facebook group and everything: https://www.facebook.com/groups/287089964833488/ XROBOTS Former toy designer, current YouTube maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it. XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available.

Comments

Anonymous

Very interesting, would really like to see some form of integrated braking included though - then I think it could have lots of applications.

XRobots
>>59517525

The driven axle could have braking, but it's harder on the hemispheres - that's no different to a normal omni/mecanum wheel though.

XRobots
>>59517525

The other axis could be motorised as well, but it would have to go faster or slower and the hemisphere gets tilted because the circumference gets smaller.

Anonymous

If you could somehow gear back the hemispheres through the shaft, then you could measure the shaft angle to work out how fast to rotate the hemisphere. You'd probably end up rotating both though something like differential gearbox. The polar wheel is the trickier bit.

XRobots
>>59518276

I think encoders on the both independent motors and measure the wheel position on the main axle would work.

Darius Zaerin
>>59518276

this is where my thoughts were in my comment on the youtube page proposing a uni-omniwheelbot. i think it would be an incredible challenge. the differential linkage between the two hemispheres is a good idea too though. at first i thought they should be driven independently to allow the counter mass balancing you recently talked about in your gyro video, in order to stop the sphere pivoting, but a direct reverse coupling between the two should solve that passively. there would be a complication along the equator in addition to the singularly at the 'poles', but with the encoder you'd require anyway you could program the logic to nudge past those points, as well as use the equator position for controlled pivoting on the spot like matt denton did in his droid build. lots of complicated and agile speed and direction control required to drive the hemispheres though. it would be a really fascinating project!

Steve Martin

Love this. I could use the 3 wheeled form factor for a project I've had on the back burner for a while. Waiting with anticipation to see how you incorporate motors to drive it. I'd want the control to be radio driven rather than autonomous - not sure if typical tank drive could be achieved with 3 wheels?.

XRobots
>>59518276

I was thinking about losing the wheel and just avoiding the middle of the hemisphere. There's definitely a novelty to it!

XRobots
>>59524473

It's looking pretty good and it's coming next week. It drives like any 3-omni wheeled robot (like my LEGO Art robot)

Darius Zaerin
>>59518276

yeah exactly, if you know the wheel position by using an encoder then you could actively avoid it.

Anonymous

The wheels need to be balls because the direction of movement is not always aligned with the axle. Edit: For example lock wheels A and B with the wheel on the bottom. Now rotate wheel C.

XRobots
>>59549417

That would be the same with normal omni wheels though. You have to make sure all three wheels rotate if you want to rotate on the spot.

Anonymous
>>59549417

No I don't want to rotate on the spot. I want to rotate and translate at the same time. I admit it's a bit a bit of a contrived example but I believe there are real world situations where this could happen.

Anonymous

This one is absolutely beautiful!

XRobots
>>59549417

Translating would involve at least two wheels rotating, that would get mixed with all three wheels rotating in the same direction to it rotates at the same time. It's still the same as normal omni-wheels (like my LEGO Art robot). Driving about is coming up next week for Patrons and I can mix all three axis together ok.

Philip Brechler

Really nice execution of the concept, James!