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44mm Mecanum Wheel (Small, Solid and Low Cost)

by Jonah_Innoart, published

44mm Mecanum Wheel (Small, Solid and Low Cost) by Jonah_Innoart Feb 22, 2016
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20638Views 3534Downloads Found in Robotics

Summary

These are Mecanum wheels designed for small factor robotic systems.

It's a low-cost design, the only non-printed parts required is some dressmaker pins.

Testing video:
https://www.youtube.com/watch?v=WKruDl5lpHE

Specifications:

  • Wheel Diameter: 44mm
  • Wheel Width: 21.4mm
  • Axle Diameter: 3mm
  • Accessory Parts: 27mm dressmaker pins

UPDATE - 2016/04/12
Some ask for more about the rover so I uploaded the basic parts I used to build the rover in the video. Please read the last section How to Build a Rover.

Print Settings

Printer Brand:

Up!

Printer:

Up Mini

Rafts:

Doesn't Matter

Supports:

No

Resolution:

0.2mm

Infill:

0%


Notes:

This model is easy to print for most printers, as long as you follow these instructions:

Print with NO SUPPORTS. This is important because this model is designed as a self-supporting shell structure. Adding supports will not give better results but ruin the surface.

Also, print with NO FILLS. The model has a closed shell which is strong enough for any platform at this size.

Post-Printing

How to Assemble

Put a roller into a slot on the wheel body, and push an dressmaker pin through to mount them together.

BE VERY CAREFUL when working with those pins. You will need some practice before you can install a roller without bending the pin or hurting your fingers.

Based on your printer's resolution, the mounting holes might be too small. If that happens, rework the holes with a drill. Make sure that the rollers can roll smoothly.

27mm Dressmaker Pins

How to Improve Performance

The performance of a Mecanum wheel depends heavily on the grip between rollers and ground. Print the rollers with finest resolution will improve it.

Additionaly, I found it helpful to cover the rollers with a piece of heat shrink tube. I tested it with 12mm heat shrink tube and it improves a lot, as shown in the video.

Heat Shrink Tube can improve grip

How to Build a Rover

This design is about wheels, not about rover. The rover in the demo video was far from satisfactory. It only served as a testbench for the wheels. But if you would like to build a similar one, here is some advice:

BOM:

Printable:

  • Top plate x1
  • Bottom plate x1
  • Mecanum wheel x4
  • Motor mount x4

Non-printable:

  • N20 Gear Box Motor x4
  • L9110S Dual Motor Driver x2
  • Logeek Max10 Dev Board x1
  • ESP8266 Wifi Module x1
  • 2S Li-ion battery x1

and several Hex Rod Coupling Nuts & Screws

About Motors:

Some will prefer servos instead of DC motor, like this one by @Madox. If you want a serious work, you should read his instructions instead of mine.
I choose 100RPM N20 Motor because it's smaller and faster. However it might be tricky to handle speed differences between motors.

About Electronics:

As a FPGA engineer, I use Logeek Max10 which is a FPGA dev board, and my program is witten in verilog instead of C code. That is why I suggest you look into other designs for algorithms. If you use Arduino UNO, there is a problem that L9110S requires two PWMs per motor, that gives eight PWMs in total. Since UNO does not have that many PWMs, I guess you have to hand code GPIO to emulate PWMs. For Arduino Mega or newer models, it is not a problem since they have enough PWMs.

About RC:

I use a ESP8266 WiFi module and a client App on Android for remote controller. In fact it is my colleague's work and I borrowed it. There should be a lot of reference designs for ESP8266.

There is a simple principle for mecanum controller. To get full control on mecanum wheels, at least three control channels required. One for overall throttle, one for left/right differential, and another for front/back differential. The speed of each wheel is a sum of the three signed components.

I truely hope this will help, but what you will get largely depends on what you already have on your hand. This why we call it DIY.

Have fun!

N20 Gear Box Motor

Logeek MAX 10 Dev-Board

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Hey, it doesn't look like this has a hole for a D-shaft, however the motor you use has a D-shaft. Is the friction enough to fix the wheel to the motor shaft? If possible, can you upload design files so I can modify it? Thanks

Will be that wheels compatible with a 3 wheels omnidirectional robot as that one http://www.thingiverse.com/thing:1276446 ??. I see that you have wheels for right and for left sides, in a 3 wheels robot the configurations is different, isn't it? Thanks!

Mini Loki - Omnidirectional robotic platform
by bqLabs

Although mechanum and Omni wheels both have rollers their application is charectoristicly different and mechanum wheels always needs to used in pairs of 4.

How are you "locking" the pins into place?

I'm using super glue, but if you're redrilling and use the right drill bit, you can get a friction fit. I've found that a size 70 is just about right

Forgive me if i'm being dense, but with a symmetrical hub couldn't you have just made one wheel model? Is it a design element or is there a mechanical element that necessitated a left and right wheel?

Notice if you flip the hub arround the rollers are still tilted the same direction. Mechanum requires that they​ be in opposite pairs so that their force vectors can cancel against each other.

Hi,
Thanks so much for sharing this great design again. I have just printed the wheel body with FlashForge Creator. The top part over hang is too rough though. Cannot fit rollors for sure. I printed with PLA, 210 degree C for extruder, 60 c for platform. Travel speed = 60 mm/s, Z-axis Travel = 23 mm/s. Roller uses the same settings too. The hole is filled though. Any helps, please? Thanks.

Thanks for the mention,actually I had plans to make smaller wheels and use N20 motors a couple of years back... and even just this year bought the same chips etc as you to continue the project but have just been too busy :)

@vurpo using watch spring bars is very finicky, very very annoying actually.

Alternatively to dressmaking pins, you can use 20mm watch springbars as axles for the rollers.

What are the shaft dimensions of the motors. I'm trying to make sure that what I buy is compatible with this model.

Please upload the openscad file, too...

Beautiful! Could you please scale it up a bit? Something like 66mm diameter or around that would be great. Thanks!

I'm learning OpenSCAD recently so may be a parametirc one? Give me some time.

That would be the greatest! Thanks!

what about all parts for this rover? pleas

I'm working on an improved cart body. It may take a few days through.

Feb 22, 2016 - Modified Feb 22, 2016

You misspelled the title.

Corrected. Thanks!

Feb 22, 2016 - Modified Feb 22, 2016
faggahz - in reply to mariustcaci

@ mariustcaci:
that's right, but you haven't found the right word: Mecanum wheel. If the title can be changed, the search function of the website will find it later.
@ Jonah:
thanks. Great work, good instructions. My printer is printing it right now.

Thanks bro!! Sorry for my fat finger.
Let me know how your prints works.

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