Robot Operating System controlled RCM omniwheel robot

[joshua-8]

software: https://github.com/robotsasfurniture/robot-base/releases/tag/v0.0.1
hardware (3d printable omniwheels): https://github.com/joshua-8/lab4bot/tree/main/hardware

20240304_232757.mp4

[joshua-8]

onshape cad for robot: https://cad.onshape.com/documents/1cf92302841c981fff777113/w/59b25e1da29db48f2bfeb21f/e/917b01d42cea9a9ac7308303

onshape cad for wheels: https://cad.onshape.com/documents/62a1949c48705747124bd55e/w/88d012c05834f9b58a6dfd6b/e/f2743481b43e5c46fe2bbace?renderMode=0&uiState=660617199a780059827e0265

[joshua-8]

The 3d printed omniwheels slide a lot on the ground, but haven't broken yet. I don't know how much they can be scaled down before the little 3d printed posts acting as axles for the rollers would become too fragile.