FIGURE 2. Mecanum wheels must be paired to
FIGURE 3. Omni wheels should be mounted at three
equally spaced positions.
three-wheeled configuration while mecanum wheels are
used in pairs to create a four wheel base. Both of these
wheel designs can be relatively expensive because of the
labor generally required to produce them.
When utilizing mecanum wheels, each wheel is a
mirrored image of its apposing partner as shown in Figure
2. When all four wheels move in the same direction, the
robot will move forward or backward. When wheels A and
C move in the opposite direction of B and D, the robot will
rotate around its center.
FIGURE 4. Omni wheels from
Nexus Automation attach easily
to LEGO motors.
42 SERVO 12.2011