3 Motor 6 Differential Fully Holonomic Mecanum Wheel Arduino Robot

Описание: This robot controls four mecanum wheels using only three motors for full holonomic motion. How? Through 6 differentials and a complex gear-based drivetrain. Each motor controls one degree of freedom—the top motor controls rotation, the middle motor controls lateral movement, and the bottom motor controls longitudinal movement.

This video shows the fully-functioning drivetrain in action in rendered footage as well as real-world footage of the physical robot driving around with a remote control. The robot is uniquely mobile in that all three degrees of freedom are controlled using exactly three motors, unlike traditional mecanum drive bases with one motor per wheel (for a total of four motors). Thus, it can move in any direction at any time.

Onshape model link: https://cad.onshape.com/documents/039...
GitHub code link: https://github.com/joshuapeterson210/...

Parts list:
Pololu DRV8833 Dual Motor Drivers - https://www.pololu.com/product/2130
Premium N20 Gear Motor (100:1 turning, 210:1 strafe, 250:1 forwards/backwards) - https://www.servocity.com/270-rpm-mic...
48 mm Nexus Mecanum Wheels -https://www.robotshop.com/en/48mm-ste...
Arduino Nano - https://store.arduino.cc/usa/arduino-...
Transmitter/Receiver module - https://www.amazon.com/Makerfire-Ardu...
Joysticks - https://www.sunfounder.com/joystick-p...

Joshua Peterson’s email (designer and builder): [email protected] (email in the credits does not work)
Alnis Smdichens’ email (animator and video editor): [email protected]
Alnis Smidchens’ website/portfolio: https://alnis.dev