Our senior design team’s interest in robotics led to the design and construction of an innovative omni-directional wheel.  Unlike a conventional omni-directional wheel, the outer rollers are actively powered, allowing the wheel to move in any direction using motors and a closed loop feedback system.  We are currently pursuing patents on the wheel.

The wheel is difficult to hold by hand for demonstration purposes.  Therefore I built a solid oak stand to support the main axle, and allow the rollers to turn freely using the crank.  The stand was also designed to complement the eccentric looks of the wheel.

For references, please contact:
David M. Sanborn, PhD, PE
Associate Chair for Undergraduate Studies
The Woodruff School of Mechanical Engineering, Georgia Institute of Technology 
Atlanta, GA 30332-0405

Holonomic Wheel CAD
ME4041 - Interactive Computer Graphics and Computer-Aided Design
             
The selected project was to model the omni-directional wheel using IDEAS CAD package, and analyze the components using FEA to determine if parts of the wheel will be able to support the required loads.  The wheel specifications were determined in the senior design course, and the CAD model was used to create the drawings from which the senior design holonomic wheel was constructed.

CAD model of holonomic wheel

Finite Element Analysis was performed on the roller and chain link to examine the stresses caused by the specified loads.  It was determined that the components would be able to support the necessary loads including a safety factor.

  
Left: Roller FEA                                Right: Chain Link FEA

For references, please contact:
Suresh Sitaraman, PhD
Professor CAE/FEM, Microelectronics and Packaging
The Woodruff School of Mechanical Engineering, Georgia Institute of Technology