2023-3-27 | OmniRob
OmniRob, an omnidirectional mobile robot based on Mecanum wheels.
XiangChang
OmniRob is an omnidirectional mobile robot based on Mecanum wheels. This project was designed during my freshman year in the Design and Build course at Tianjin University.
OmniRob
OmniRob is an omnidirectional mobile robot based on Mecanum wheels.
Featuring a modular design, the chassis supports four expansion modules. In this project, two modules are installed: a 4-way infrared sensor module and a material dispensing module.
Introduction
This project originated from a course I took in the first semester of my freshman year: Design and Construction.
The course required us to design a vehicle that could both follow a track and dispense materials. Similar to traditional line-following cars, this vehicle runs along black lines on a white surface. The difference is that we also needed to equip it with a material storage and dispensing device, allowing the vehicle to accurately dispense objects at intersections on the track.
Thus, the OmniRob open-source project was born. It is an open-source, low-cost, easy-to-assemble, modularly designed Mecanum wheel robot. It uses four DC brushed motors with encoders, controlled by an Arduino. To drive the motors, I also designed a motor driver Shield board for the Arduino, which will be discussed later.
The top and front/back of the vehicle have four modular interfaces for installing different modules. We installed a 4-way infrared sensor at the front and a material storage and dispensing device driven by a servo motor at the top.
Components
- 3D-printed chassis, top cover, dispensing mechanism
- 4 MG513 DC gear motors, gear ratio 1:30
- 4 Mecanum wheels with a diameter of 65mm
- Several M2.5 screws
- MG996R servo motor
- Arduino UNO
- Custom 4-motor driver Shield (directly plugs into the Uno)
- 12V lithium battery
- 4-way infrared sensors
Total Cost ~$40
For installation and internal structure, see the Installation Guide.
Motor Driver Shield - MUNO
The motor driver Shield uses a 2-layer PCB design, created with Altium Designer 2022.
The driver board uses four AS4950 chips to drive the motors, with a maximum driving current of up to 2A per channel.
The designed Shield board can be directly inserted into the Arduino UNO, as shown in the image 4.
Dispensing Mechanism
Video Demonstration
Installation and Usage
Refer to the Installation Guide.
License
OmniRob is released under the MIT License. Please refer to the LICENSE file for more information.
Contact
My email: changxiangchina@outlook.com