This video is of custom 3D printed Mecanum Robot. This is an omnidirectional robot which not only goes forwards, backwards and turns, but can also travel sideways and diagonally. This is thanks to the mecanum wheels with built in rollers that can operate differently to the direction of the motor.


This is all explained in the video which includes an animation (created in Blender) showing how the direction of the motor wheels causes the robot to move.

The code to control the robot is return in Python using gpio zero. It uses the keyboard presses to control the robot, but that can be controlled using qjoypad and a wireless controller.

The chassis is designed in FreeCAD based around a simple shape with additional mounts for the Raspberry Pi, the Breadboard and a 4 x AA battery holder. There are also custom designed brackets used to hold the motors (298:1 gear ratio) in place. This is demonstrated using the Meshlab STL viewer.

These links provide more information about the robot

For more details see
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* STS-Pi robot video
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* T200 tank robot with caterpillar tracks
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* FreeCAD tutorial
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* PenguinTutor robots page with links to STL and source code files
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* Thingiverse with STL files
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* Video on understanding PWM (related to a video on model railways - but the principles are the same)
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* Video explaining the H-Bridge motor controller
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* Link to Wireless controller video - using QJoyPad for controlling a robot
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Chapters
00:00 About the Mecanum robot
01:08 Mecanum wheels
02:44 Motor direction for mecanum wheels
04:55 DC motors
05:18 3D printed chassis
06:10 Viewing STL files in meshlab
09:06 Python gpio zero code
07:50 Wiring up the H-bridge motor
14:59 Using QJoyPad for USB game controller
15:35 Watching the robot in action

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