Omniwheel Base

This base will consist of two section the omniwheel platform and the "cabinet above" which will carry many other features.

Blender 3d file link: https://ipfs.io/ipfs/QmZuAkDBxG8QeotCv5by1R8GSXcZZE1X8NAzURLvg7iwqt?filename=complete7.2.0221%20-%20render.blend

Omniwheel Platform
Four omniwheels (Omniwheels)

Four motors (Motor)

Four gearboxes (Gearbox)

Four ecoder feedback mechanisms (the base encoder used for now is the KY-040 Arduino Rotary Encoder)

bottom square plate

Base Cabinet
Electronics (core) (Electronics needed for this project)

Energy (Energy Systems with many options)

Power (Power production systems with many options)

Materials storage

in out mechanisms

Frame

Top Plate (meshes with the robot arms and the top level)

BOM
This is the BOM for the current version with the default options.

(Note that in this version we are going with NEMA 23 that increases all costs, in previous version we were going with NEMA 17 and a planetary gearbox that would cut the cost almost in half as you could use smaller cheaper drivers as well as motors.

The NEMA 17 version is superior and should be used, only that there were reliability issues with it, that resulted in it being put off, Once there is enough funding for it, it will be redesigned and built and that should be the default version.)

4x NEMA 23 motors

Duet 3 6HC

Raspberry Pi 4B 4GB

300mm x 300mm base material

1 Kg PLA plastic

screws