This holonomic drivetrain was my Grade 12 Tech Design project. It is a seldom used drivtrain in FIRST robotics competitions, and I was struck by the fluidity of its omnidirectional movement. Manufacturing this, I made extensive use of the mill, laythe, CNC with G-code, and bandsaw machines. You can see my full report on this project here and the GrabCad folder here. Hover over images to learn more!
The special mecanum wheels have rollers that distribute the force along a 45 degree angle, allowing omnidirection movement without the complexity of rotating wheels or casters.
The final render of the bot minus the electical board. Designed in Solidworks with parts from VexPro, rendered using Solidworks Visualize.
The standard pre-2015 FRC control system was used along with a router for interfacing through a laptop to an xbox controller, one joystick mapped to panning and the other to rotating.