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Finished Project/Animation - 3 Motor 6 Differential Fully Holonomic Mecanum Wheel Arduino Robot
I met Joshua Peterson, a fellow Onshape user, over discord on Monday when he showed a video of this incredible robot in action to the FTC community. We decided to collaborate on making a promotional video/animation for the robot (which was fully designed in Onshape). He designed and built it, and I animated and edited this video.
Hope you all enjoy
This robot controls four mecanum wheels using only three motors for full holonomic motion. How? Through 6 differentials and a complex gear-based drivetrain. Each motor controls one degree of freedom—the top motor controls rotation, the middle motor controls lateral movement, and the bottom motor controls longitudinal movement.
This video shows the fully-functioning drivetrain in action in rendered footage as well as real-world footage of the physical robot driving around with a remote control. The robot is uniquely mobile in that all three degrees of freedom are controlled using exactly three motors, unlike traditional mecanum drive bases with one motor per wheel (for a total of four motors). Thus, it can move in any direction at any time.
Onshape model link: https://cad.onshape.com/documents/039d90381644dad86f131915/w/9de01be2421518eba3ef6f53/e/c3a5fb31123dfc8af82c16a0
GitHub code link: https://github.com/joshuapeterson210/threemotormecanum
Joshua Peterson’s email (designer and builder): [email protected]
Alnis Smdichens’ email (animator and video editor): [email protected]
Alnis Smidchens’ website/portfolio: https://alnis.dev
Hope you all enjoy
Student at University of Washington | Get in touch: [email protected] | My personal site: https://alnis.dev