This Robot Design is AMAZING! But is it worth the STRUGGLE? (Omniwheel)
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- เผยแพร่เมื่อ 19 มิ.ย. 2024
- Altium Designer: altium.com/yt/greatscott!
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DC Motors: s.click.aliexpress.com/e/_ANbG8N
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In this project we will be having a closer look at omniwheels. Such wheels can (like the name implies) move in any 2D direction without turning. That makes them ideal for saving energy and time and they can also very precisely move the robot to a specific spot. There are of course many more advantages and applications which is why I was eager to find out more about them. So in this video I basically built my own omniwheel robot to learn more about the topic while also determining whether it is worth it to build such a robot design.
Websites which were shown/mentioned in the video:
www.sparkfun.com/datasheets/R...
Thanks to Altium for sponsoring this video.
0:00 What are Omniwheels?
1:35 Intro
2:10 DIY Omniwheel Build
4:30 Robot Build
8:02 First Robot Test (Spin around)
8:20 Omniwheel Moving Theory & Code
9:05 Final Tests & Improvements
10:03 Verdict - วิทยาศาสตร์และเทคโนโลยี
Thanks for watching this video! Now the robot design in the end is certainly not perfect. But like I said; by using other rollers+motors, this robot can become way more precise and stable. Also the code of the robot is certainly not perfect. I think I messed up the math at some point. I will have to figure that one out as well when I get to make a part 2. I think I even wrote a wrong equation on my vector paper......mistakes happen. But I think the overall idea of the video should still be pretty clear ;-)
@@MrKevCrafter patreon subscribers get to watch videos in advance
Your presentation and your paper is awesome, it's okey to have minor mistake inside~
check this guys channel "James Bruton" there are some intresting videos about these wheels
Definitely genius! ✌🤝✌ !.
@Praveen P (damn you beat me to it 😅) ... but yeah if you're interested in these types of wheels check out James bruton he's got alot of different designs using them
Great work! You might be interested in James Bruton's yt videos. He has tons of videos featuring contraptions with unique drive systems ranging from omniwheels to balancing robots.
I am aware of him ;-) But everyone who reads this comment; check him out.
Honestly, I feelt the whole time he is an uncredited inspiration for all of this. It would be too much of a coincenence when he renewed the whole omni wheel movement a few weeks ago and now everyone's grandmas doing it while all thr copycats give him no credit.
@@JonnyRobbie I honestly got aware of such omniwheels through Mark rober. Which I mentioned. I found James Bruton later.
He's been doing some good work on these wheels.
@@greatscottlab I'm not accusing you but to give you some context James has been uploading several series on omni-wheel designed robots for nearly a year going on now. Your wheel design looks exceedingly like his very early prototypes other than him 3d printing in TPU for the wheels for traction (and not using motors with encoders). Overall its easier for people to assume your designed inspired by James' work rather than Mark, given the design similarities with what James makes.
However I feel that has more to do with design limitations (you're both 3d printing, Mark wasn't) but its going to likely be a common misunderstanding.
one little thing, the rollers should bulge in the middle so that the outside of the wheel is still a circle, rather than a 9 sided polygon. it should help with the bumping a bit as you drive
Honestly the interactive videos are much more fun to watch than the paper-pen videos. Great job!
Glad you like them!
Maybe when you create the wheels on your 3d printer, design grooves into the wheels where the o-rings can sit in. This will make it more difficult for them to slip off.
The other crude option is to wrap only one layer of Amalgamating tape on the wheels to give it rubberised coating.
Food for thought.
I wrote the same and thought the same - now I see I'm not alone ;-)
Sure this would work ;-)
Yes indeed, I thought of the exact same thing. Small grooves with thick O rings and even use glue if necessary to ensure they don't slip out of their grooves.
Can we all take a moment to appreciate the work this man is doing to entertain and educate us? Man thank you very much!
My pleasure!
@@greatscottlab Man you put my channel name in on thumbnail thank you
@@greatscottlab this guy copy pasted this comment to 3 different videos
This guy is obviously a bot. Exact same comment seen on this old tony’s last video. At least it’s a friendly bot.
come on I am not a robot
Love your videos! Learn a lot from them about taking theory to practice.
This give me massive amounts of nostalgia from doing competitive robotics in middle and highschool. 4 wheel "x-drives" are a lot more common in that environment, and some teams use meccanum wheels which accomplish the same thing and are even programmed the same, but you don't have to mount them at 45 degree angles. Pretty simple to program too once you get a good grasp on how they work. I have some code somewhere that implements driver control for an x/meccanum drive in 4 lines.
There was even a team that designed their own meccanum wheels a few years ago. And 3D printing isn't allowed and you can only use a specific set of parts so they had to be creative and cut up some gears and take the rollers out of Omni wheels. Anyone who's interested in taking a look, search green egg robotics meccanum wheels on TH-cam
Very awesome. Cool to see a full design like this every once in a while to breakup the waves of circuits. The circuits by themselves only have so much of the maker market on yt, so these are also good for expanding the audience
So delighted by how I learn something from your videos which has set my electronics interest on fire again!
Amaizing project as always! 🙂
This again was a great project like ur all other project
I think making grooves in rollers to fit O-ring proper in one place
And feeling excited for ur next project
fun project, nice work! its really impressive how you always build things completely from the ground up. it would definitely have worked better with cigar shaped rollers printed in TPU and better motors, but it was good enough to begin with. i actually have a real, wood cutting CNC router based on this principle called the goliath cnc, set up in the 3 omniwheel configuration exactly like your robot, and it really works!
James Bruton has also built and experimented with many many different and more advanced omniwheel configurations and i highly recommend his videos if you haven't seen them! his projects are all 3d printed and he also shares all his files so you can try them out if theres anything you like.
Thanks for the feedback :-) Lots of helpful information.
Awesome project, i really like these robot videos! Please make more
Could you fix the second problem by printing the rollers with trenches in them for the O-rings to slit into so they stay put and evenly spaced out over the length of the individual roller?
Possible :-)
@@greatscottlab This is the first thing I thought of when I saw it.
Or printing the rollers in TPE maybe?
@@abeowitz Oooh! That's a great idea! Like heat shrink tubing.
Best solution is the trenches idea. Shrink wrap has different traction specs. And bulging the rollers too.
This is cool.. and very well engineered!
Thanks :-)
I love your drawing / schematics 👌
Lovely , thankyou for making this video..😍😍
I love how you always make complicated things seems easy...
Awesome! I didn't realize how much effort those omniwheels are.
I used mechanum wheels in my recent robotics project and I had to figure out the trig coding too. If you can get an accurate IMU measurement(most likely using some sort of complementary filter), you can use PID to keep your angle straight, regardless of slipping. Implementing the PID algorithm while keeping motor direction in mind is a bit difficult....
I really like the implementation of the omniwheel idea, hopefully, this project progresses forward (:
And backwords(im sorry)
Good one ;-)
Painting the omni-wheel spools with a rubberized paint, should solve the traction issue and therefore eliminate the need to use the troublesome o-rings. All the best!
Maybe next time ;-)
Great work Scott. I really appreciate your work and the great ideas you discuss, I am myself an electrical engineering. Please make a video on diy ULTRASONIC CLEANER.
great video man👍 it's always a good idea to try something new😄
I 3D printed some omni-wheels not too long ago. I smeered silicone blue over the rollers to give them traction on the ground. Worked like a charm
Fellow robotics student from your own country here. The design of the mechanum / omnidirectional wheels are almost half of the story and they rollers and the angles are required to be very precise for the vector calculations. The other half is the software, specifically the position tracking of individual motors, as you mentioned. The end product is really freaking cool, like the Kuka cargo mover and others, but I don't think it is very easy to do that at an individual level.
Still, I must applaud your efforts! :)
At 05:57, a quick Fusion360 tip: Theres alot of standard electronics parts, aswell as hobby project components, in the Fusion/Autodesk Gallery. This makes it easier and quicker to CAD, as the parts in the gallery often are quite precise. The motor you are using is in the gallery named Geared DC Motor
3-D print the rollers with engravings/indentations strips, So The rubber seals can sit half inside and half out. But amazing job I can barely can get my 3-D printer working. Keep innovating 👍nice job
Love your inventions God bless!
small tip (may be usefull for future rf projects): you ca also use the s-bus or i-bus (if available, tho most rf receivers support at least one of them) to read directly the channel values from the receiver without having to read the pwm signals from the channel output pins (this way you can also use more channels that the receiver can normally offer)
Another great video, thank you
Great video, as always :)
May I suggest using rubberised rollers - possibly using heatshrink over the rollers if you're staying with diy, or if you're going for the commercial product?
The rollers also need to bulge so that the wheel overall is round, and not a segmented polygon :)
Awesome project, an idea for another video:
Metal detector diy or buy.
this project takes too much time and effort, great work!
Great work as usual.
Something i think really important that you didnt speak of is the consumption vs distance. Omiwheel vs wheel. Would be very interesting to get that also
Wonderful! Maybe indents in the rollers for the o-rings?
This is a funny but very enjoyable idea!!! I got surprised again with the amount of the subs of this channel lol Great Scott!!
Awesome! Love your videos ❤️
Glad you like them!
i have the same model of the robot vacuum. it's awesome!
You could also try using mecanum wheels as they can work with simpler geometry of the robot, and aren't as bad when slipping
Just a thought on a more advanced design for the Omni Wheels.
In thinking that the more traction you add the more friction you add when you drive against the dormant wheel.
Perhaps there could be a function where traction is added and subtracted on the Fly based on what that wheel is supposed to be doing.
Makes me remind of the Mecanum wheels, a 45 degree roller wheels that use in the Fork lifts. It's actually uses a 2 wheels at a variable speed in each of the wheels to control the direction of the lift.
I also got some of those ;-)
Good job, keep it up
Great build my friend. You might want to rebuild the small rollers with embedded channels so the rubber bands do not move so much.
Excellent!
Nice new intro j can finaly read GREAT SCOTT properly
If you can print in TPU, you print the rollers in that. It's helpful to have the rollers as simple as possible, while still having that rubber traction. The better design does include something of a bulge in the middle, as the rollers are supposed to follow the arc of the wheel. There is also existing code that ironed out some of the problems you were having, examples through FIRST Robotics have been pretty well open sourced.
You should also check out an X drive, where 4 wheels are facing outwards with a 45 degree angle between them. You get more significantly more power and traction with this configuration.
with your prusa mk3 you should be able to print flexible filaments, one not to rubbery would be great for grippy rollers in my opinion, great work anyway i always enjoy your videos!
Nice project. Consider using TGP rod (turned, ground, polished - I have no idea what it’s called in German) for the axles for much longer life, less side-to-side lash, less binding and lower rolling friction - when you _want_ the roller to roll. For added friction in the axial direction, consider using rubber/plastic tubing “tire” over each PLA center “wheel”. For example, radiator hose, ‘fish tank” tubing, etc., depending on the inner/outer diameter desired. Tubing is, of course, available in all sorts of sizes and with different durometers, and thus can be selected for the desired amount of friction.
I've had a lot of fun with silicone rubber when I need a bit of traction on an otherwise slick surface. So, I'm wondering if applying a layer to the wheels might solve your problem.
Possibly this could be done by 3D printing a jig which has a lot of oversized holes with shafts. Wax coat the jig, put some silicone rubber into each hole, then insert the wheels on the shafts, squeezing the silicone rubber around the wheels.
Just a thought.
Thank you sir from phillipines
Great Work Sir, pls make cob led video light. thank you
Good idea
your videos are the best man
If you do a part 2, that’s a good potential segue to talk about putting encoders on brushed DC motors and designing a feedback loop vs using FOC on BLDCs.
Thanks for the feedback. I will keep it in mind :-)
Good idea. I’d be really interested in seeing an experiment with position tracking using accelerometers, or better yet, N axis sensor fusion chips. My guess is that it would be fairly challenging (or just super noisy) starting from scratch, but it also seems likely that there are some open source projects that may make the math/signal processing more approachable. Just an idea.
Awesome ♥
I also have one ominwheel robot,omniwheels are very very costly ,ur diy version is best
You could check out the robocup soccer robots (e.g. small or middle class). They’re pretty much exclusively build around this kind of omni drive platform. Not only can you move in any direction, but you can as well rotate the robot arbitrarily at the same time, whilst going in a straight line.
I wonder if you could paint your rollers with something like Dip It which is used for tool handles to give them grip. That dries fairly smooth, perhaps there are other spray on rubber coatings.
@greatscott! with PTEG running the fan will create stringing, why i switch the fan off. great content as always.
What about using a rubber hose for the wheels? Print plastic bushings to stiffen the hose, and plastic washers on either end to decrease friction. So you would have a hose with a plastic insert, then a shaft going through everything. It would be cheap, and I reckon it would work pretty good. You can order hoses of all different diameters to suit your needs.
Paint silicone over the rollers for grip. Assuming your using PLA, don't even need to scuff the surface for good stick, the layer lines will do that all on their own. Maybe a quick rinse with distilled water or IPA to clean the surface of the plastic first but in my experience it's a challenge to get silicone to not stick to PLA.
Awesome work, dude! Nicely done! 😃
About the issue of the wheels, you could modify them to use a "tire" which you could print with some flexible filament. You know?
But, either way, really well done! 😃
Stay safe and creative there! 🖖😊
BTW, search for radios with OpenTX or EdgeTX. The second is just a fork of the first, which is lacking a LOT in development, but they're totally compatible.
I would not rely on the rotation-position detection, while talking about wheels. Those stuff is good for e.g. robotic arms. I believe Mark Rober also did some external position detection. (Also rollers of the omniwheel has a barrel shape.)
I have experience with these, they are common in FRC. Omnis have terrible traction. Mechanum wheels are similar and do quite a bit better, and are easy to use in a traditional 4 wheel configuration. They still have wear problems, but it's not too bad on carpet.
I love robotic projects 🥰
Hope you enjoyed it :-)
I did some work with omni wheels in Vex Robotics in High School. They are pretty bad at clearing obstacles but a clever design can make it work.
Is this James Bruton Is that you?
Not quite his level I think
you could try heat shrink tube for the yellow rod on your omni-wheel
Perhaps use some thin-wall rubber / silicone pipe to cover the rollers (more traction on slippery surfaces).
I wonder if printing TPU sleeves for the rollers would help. Also, I imagine using threaded rod for the shift would eventually cause problems with it cutting into the rollers and cause binding.
Just print a small insert from PLA to go inside the TPU wheels, although unless the shore hardness is far less than 95A the TPU has no grip.
I would suggest you to add some kind of rubber coating on the roller
Nice video like always
You should check out the DJI RoboMaster, a bit of a different design but also uses omni wheels.
Omniwheels are a real thing in industrial lift equipment. There was a MythBusters special where Grant (RIP) mentioned that his favorite bit of gear was a forklift with Omniwheels specifically because of its ability to crab.
We use these in FRC or first robotics competition we have a robot that we did make one year that was the shape of a triangle and moved the same way one of the companies we buy from is Andy mark but there’s plenty of others like Vex and Rev robotics
Wheels only come from China , therefore I have to make my own. You are indeed resourceful. I would have just bought a kit from Amazon or somewhere. I don't have a 3D printer yet because it seem like most people are just printing trinkets. But this was a good legitimate use.
Maybe using a liquid rubber coating on the rollers, or a tpu printed sleeve could help with the traction control?
To stop the O-rings from moving, you could print the rollers slightly larger and put grooves where the O-rings are meant to sit. If the rings still move, then use smaller rings (stretch them over the roller to put them in place) until they don't slip out of the grooves.
It's either this, or you use TPU rollers... and when you print them put some kind of tread on them.
You could also try gluing the O rings into the grooves too.
New intro is amazing
Why dont you create rollers with grooves for the rubber rings? Great video!
Sweet video! I suggest printing the rollers/wheels out of TPU material for better traction
I would definitely do that for a new version.
@@greatscottlab You're a role model to me and it means a lot when you reply to my comment. Thanks GreatScott!
Wow you have done pretty good
Here at college we use this drive system pretty much everyday
And one good suggestion would be to use imu feedback and pid
Thanks for the tips!
i think what you need to do is print the original dimension rollers or just very slightly smaller but then cut groves into the rollers for the rubber o rings to fit into.
For the rollers you could use the small rubber rollers from a printer.
Have you considered printing the rollers in TPU or sime other flexible material?
Need a groove around the cylinders to help hold the gaskets.
Grooves in the rollers may help to keep the rubber gaskets in place.
Yes, 3D print the grooves and glue the O rings in place as well. That should give the best results.
Amazing
Are you able to control the speed of the motors by injecting a pwm signal on the "Enable" pin for each H-bridge of the motor drivers?
Just a thought - with two wheeled robots, the third swivel wheel/roller tends to have a negative impact on the accuracy of the robot, as it creates non-linear forces while turning, causing the two DC motors to spin at different rates as same voltage. Would it be an idea to use a small, free running omniwheel instead of the roller?
nice one, apart from complicated code and design I think there will be issues due to friction which will result in reduced life for wheels and motor.
Mpu6050 gyroscope module could help with the direction even when it's slipping with a proportional control loop.
But yeah, it needs code.
My grandparents have a roomba too and their cat sometimes sits on it and drives around
Surprising and intéressant thing. Why dont you some small gap for the rubber band ?
print the small rollers with tpu and small points for more gripp
Powerful blcd motors..pulls out the big odrives
For a better and precise movement don you need a jacobian ( i think is written like this) and then a pid controller? And of course some sensor
Jacobian matrix sounds interesting. I will have a look at it :-)
You should look in to mecanum wheels. Similar idea as the omi wheel except the rollers are angled and with four wheels it can move sideways.
Great video. Keep up the good work.
I actually ordered some of them for the project. Maybe they will find their place in a future video :-)