Robot omniWheel

For this project I worked together with Andy Sahlstrom. We use the omni wheels showed in class to create a moving robot.

The base for the body consist in to pieces of 0.75″acrylic, in where, we accommodate precisely 3 micro motors from servo city in a some milled paths that already had it.

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The control for the DC motors was made with Arduino and H-bridges for each one. After understanding the way to three wheels interact in between them to go forward the wanted direction, we program the robot to go in circle with small pauses.

Here is the video, and some drawings of “it”.
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