Will this Omni-Directional Tank Work?

Опубликовано: 15 Март 2022
на канале: James Bruton

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I’ve previously built various omnidirectional vehicles. Those included a machine I built to promote a LEGO set, which used three standard omni-directional wheels. We’ll talk more about the maths involved in calculating the wheel velocities later in this video, but using a combination of wheel velocities the machine was able to move in any direction as well as rotate.
I built another similar machine, but this one used ball shaped wheels which were inspired by a project at Osaka University. Each wheel is made up of two hemispheres and each wheel has one driven axis, just like standard omni-wheels. This allowed it to move in any direction or rotate.
Neither of these vehicles where particularly good at climbing over objects though. I built various other projects which were much better at climbing over obstacles. In some cases these used rubber tank tracks, or other weird wheels like the Pedrail machine which had extending feet around its wheels’ circumferences. Or just a lot of wheels like my actively flexible snake robot which could flex in two axes to get traction and also bridge gaps.
But what about if we had a tracked vehicle that was also omni-directional? In this video I’m going to attempt to make tank tracks which can also slide sideways, so we can make a vehicle with three of them arranged just like omni-wheels.

CAD & Code: https://github.com/XRobots/OmniTracks

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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
Bearings from: https://simplybearings.co.uk/
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

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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.