Holonomic Robotic Drive Base
This is a 3-wheel holonomic drivetrain, also known as a kiwi drive. It is an ongoing garage project that I designed and built alongside 3 friends. The goal is to prototype an autonomous robotic drivebase that can recognize and dodge obstacles.
It utilizes a Raspberry Pi, ultrasonic sensors, LiDAR, motor controllers, a power distribution board, and DC motors for movement and control. I made a spreadsheet calculator that factors in a desired linear speed, a direction of movement, and a desired rotational speed for the overall drive base. These inputs are used to calculate individual wheel speeds and directions of rotation to produce the desired results. Additionally, it can determine if such movements are possible with pre-determined motors and gear reductions.
To create the chassis, I used a power drill, a Dremel rotary tool, glue, a soldering iron, and a 3D printer to create parts and assemble components. The mechanical hardware utilized includes steel gearboxes, gear grease, bearings, screws, bolts, nuts, omni wheels, and wood.
It utilizes a Raspberry Pi, ultrasonic sensors, LiDAR, motor controllers, a power distribution board, and DC motors for movement and control. I made a spreadsheet calculator that factors in a desired linear speed, a direction of movement, and a desired rotational speed for the overall drive base. These inputs are used to calculate individual wheel speeds and directions of rotation to produce the desired results. Additionally, it can determine if such movements are possible with pre-determined motors and gear reductions.
To create the chassis, I used a power drill, a Dremel rotary tool, glue, a soldering iron, and a 3D printer to create parts and assemble components. The mechanical hardware utilized includes steel gearboxes, gear grease, bearings, screws, bolts, nuts, omni wheels, and wood.
