Testing Ball-Shaped Wheels on an Omni-Directional Robot
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- čas přidán 23. 05. 2021
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This is part 2 of testing out omni-ball wheels. This time I've completed the robot chassis with radio control so we can give it a test on various surfaces and over various obstacles.
A few years ago, Goodyear produced a concept for a tyre, which was a ball. But are ball shaped wheels practical, and can we make a vehicle or robot with ball shapes omni-wheels? I found a video about research carried out at Osaka University, where an omni-ball wheel is made in two halves and seems to work well. But is there more to it?
Part1: • Are Ball Shaped Wheels...
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Former toy designer, current CZcams maker and general robotics, electrical and mechanical engineer, I’m a fan of doing it yourself and innovation by trial and error. My channel is where I share some of my useful and not-so-useful inventions, designs and maker advice. Iron Man is my go-to cosplay, and 3D printing can solve most issues - broken bolts, missing parts, world hunger, you name it.
XRobots is the community around my content where you can get in touch, share tips and advice, and more build FAQs, schematics and designs are also available. - Věda a technologie
Wow you have a dish/floor washer combo.
probably why he made this robot. he'll attach a mop to it lol
😁 Never put regular soap in dishwashers. Also dishwashers are not watertight.
Ignore that fake James Bruton post, that's not him. Please report it as spam.
Thats so dumb.......note to self: patent that
XD
8:00 let's discuss our definitions about fine, JAMES
Maybe take a break from engineering robots and engineer a new gasket for that dish washer. lol
@@connorbailey308 or just use dishwasher soap, instead of regular detergent. Dishwasher soap doesn't foam up like that
Eh mine uses a cable and buckle wrapped around it to stay closed
And a wooden platform to align the door and frame.
@@WLxMusic what? you are saying if I stop using shampoo, i won't have to mop the floor every day?
This guy does more projects in a month than I have done over my lifetime.
*have done=will do
He has his passion as well as 💲💰💰💵
Amazing what happens when CZcams gives you enough money to self-survive and you can just explore science
He really does do an impressive amount. However I've also noticed that he seems to only finish about 80% of the project. In real life, the last 20 percent of the project takes 80% of the time. At 80% done, you have something that is mostly functional, and mostly there. Good enough for a video, not really good enough to ship.
James, are you putting dish detergent for the sink in your dish washer? Made that mistake once
It is amazing how chaotic the omni-directional wheels look when they are all in motion but the movement of the robot is so smooth.
Definitely seems like it has some complicated kinetics in comparison to regular wheels...
Ah, this will make a perfect office chair for an evil genius.
Or a better electric wheelchair.
I was imagining it as a camera mount that would lock on to something and move freely while always focused on the subject.
But my office chair can already move in any direction...
I was imagine too,.. This wheels for the caddie in mall😀
This is what the Hoveround wanted to be when it grew up.
Is your dishwasher OK, James? We're all very concerned.
I don’t think it’s feeling well
“The cobbler's children are the worst shod.”
Yes. What is going on there !!!!!
@Robo Cop Humor you know.....
I'm glad I wasn't the only one who was concerned. I kept waiting for him to mention it but nothing so I came straight to the comments to check.
lmao "my dishwasher is fine thanks"
Man builds robots for a living you’d think he’d know how to fix his dishwasher 😂😂
It doesn't look fine
He's just using the wrong soap. Real dishwasher soap doesn't foam. Real dishwasher soap is a type of acid that just dissolves the food. (so is clothes washing soap)
@@Scott_C uhh..pretty sure they're both alkaline. True though that he's using the wrong kind.
@@punkdigerati You're probably right. I don't know enough.
"What is my purpose?"
"You carry my kitchen bin"
“Oh my god”
Welcome to the club pal .
Only three symmetrical wheels, this is an incredibly great design!
I think the dishwasher is jealous - look at it - it's DROOLING!
You mean frothing 😎
Atonomy of the comment section
90% talking about his floor- sorry, dish washer
10% genuine comments on the robot
If you do design a robot body for this, might I suggest Rosie from "The Jetsons". That would be amazing to see.
I truly like this idea - drape it with a Rosie body.
He can borrow the head from this project czcams.com/video/8CH7B6zuqAk/video.html
Why did CZcams algorithm take so long to recommend me the robot master's channel? This is awesome.
The center of mass is a bit high. An improvement that would require a ground-up redesign would be to widen the vertical space between the two parallel beams between the wheels and put the motors there. Also, with a small cylindrical gap in the base between the wheels, there would be a great place to keep the electronics and batteries that would make it basically impossible to tip over.
Last video I mentioned what an inspiration this channel has been for me. Since I think you liked it, more specifically, I had no clue it was possible to print so many large parts and fit them together into complex mechanisms. My imagination couldn't even conceive of it I guess. But after seeing your work, and starting working on exos at grad school, I've almost completed an entire wearable exo arm with an entirely new intended motion pickup system. That's actually what my thesis is. I would have almost certainly never had the confidence to do this without your videos. I'm genuinely grateful
don't use dish soap in a dish washer, use dishwasher detergent, dish soap is meant for handwashing and creates a lot of foam.
The only reason I know that is because I did it once
Looks like James ran out of dishwasher soap and tried using dish soap instead. He now has a bubble making machine!
And fill up both cartiges
Would casting the outer part of the wheel out of silicone be a feasable solution for getting more traction? Or even just stretching an air balloon over the print?
This whole "print more sections out of TPU" / "print with dual extruder" seems a bit to overcomplicated.
Might as well make use of the free material from the sponsor.
Really impressive combination of mathematics, design, building and overall creativity. Well done!
A stool with 3 feet never wobbles, but falls over in a hurry, the higher you build it i think acceleration and deceleration will need to be limited
I too noticed that it suffered from the trike instability when stopping. Five spokes/wheels as used on (better) office chairs would help, especially with a high CoG, and may even help with obstacle climbing by having more driven wheels in contact with the "flat" surface. Control is complicated somewhat however.
Gyroscope.
Wider base..
or you have to make the base increasingly wider to compensate
@@PiPArtemis i would go for 5, you have basically no edge to fall off because there's always a wheel in the way, they don't have to be as large as the three, there's a reason office chairs have 5 double wheels
Brilliant platform for developing a robot upper.
But James, go fix your dishwasher!
I feel, in the force, the there with be a video about dishwasher/washing machine maintenance coming up soon! :-)
I really really love the way this robot looks when moving. So mesmerizing. Great video! That was really cool
They should use this for the trolley wheels in grocery stores.
Just No. If you've ever used a luggage trolly at Heathrow you'll understand why this is a terrible idea. For some reason they have the only trollies I've ever come across with four swivelling wheels. Makes cornering way more difficult than it needs to be. I'm convinced this is done to entertain the security staff monitoring the cameras.
@@ChrisCameronPhoto I’ve seen similar carts at IKEA, they’re easy to push but hard to rotate. I wonder if a circular cart would work because rotation wouldn’t matter.🤔
I think the 4 swivelling wheels they currently have are almost as good as these, and I'm pretty sure they're easier (and cheaper) to make. It would be really cool, but also very unnecessary :)
@@ChrisCameronPhoto shopping carts here in Germany all have 4 swiveling wheels, hardware stores tend to have fixed wheels at the back for the bigger carts for heavy appliances and materials etc.
@@noahluppe May be ok in your shopping centres, but when you're trying to negotiate heavy luggage around a hard u turn on a steep ramp at Heathrow and there's a security camera on the apex you get the feeling someone has got to be having a laugh.
"my dishwasher is fine thanks"
Your dishwasher is having a stroke and dying
Great vids James, love the fact you 3d print EVERYTHING
The wheels honestly look like something you would see in a sci-fi show/movie.
Very interesting and impressive as always James. You deserve so many more subs
I'm amazed how much you get done in one week! Great stuff.
God forbid your home ever caught fire. Nobody would understand what they'd see when they walked into the mess of melted plastic 🤣
It is crazy to me that people can just 3d print actually useful parts now. I remember when people thought it wasn't gonna be useful.
Most people I know still dont think 3d print is useful ¯\_(ツ)_/¯
And peope dont think space is useful, sometimes im just baffled by what people refuse to see value in
This is probably one of the best use cases for such a wheel, and it seems like it can excel at this task! What it loses in having a complex wheel design with many parts, it makes up for with it's simplicity in driving and it's overall capabilities in a home environment.
In university (25+ years ago) I spent an inordinate amount of time messing around with mobile robots. At several conferences, I saw a lot of RWI's robots, and was severely impressed. This robot platform reminds me more than a little bit of their robot base, but the team that developed those were larger than your one-man-band and the mechanics required to drive their wheels and achieve the non-holonomic drive like you are getting here were several orders of magnitude more complicated, and likely required a long time with a mill to create. Major respect.
love this design its so simple and beautiful
This really reminds me of the way in which characters are moved in video games, particularly first person ones. the left joystick translates the character while the right controls pitch and yaw of the viewpoint. it would be interesting to see the robot controlled by only looking through a first person view. i imagine it would be very intuitive.
omg what is going on with that dish washer ahahahaha Omni directional wheel platform seems like it has alot of promising future applications
so glad youtube recommended the first episode of this two parter to me. consider me subscribed! good quality content.
Amazing work. Im looking forward to part 3
Super awesome work 💯.
SUGGESTION: Instead of the wheel at the end of ball wheel, a freely movable ball will work much better and it will hopefully remove the jerks in the travel of the bot.
Aka a trackball?
A captive ball might actually impair certain performance. The wheel only exists to cover the edge case of movement exactly along the axle. The wheel is indistinguishable from the rest of the solid surface of the ball in all other cases. If you replace the cap wheel with a captive ball, it could create slip in that part of the travel. I could maybe see a ball working better in an unpowered omniwheel, but that just begs the question of why not just use a captive ball the size of the omniwheel in the first place.
It needs to be a wheel, or when you use that ball for movement it will have two periods of zero traction.
Remember the drive motor pushes the wheel and rolls along the ball, of it gets to a freewheeling ball then it will slip for the entire duration of that when it is trying to accelerate.
The little captive wheels NEED to be wheels, and NEED to be oriented along the axel. It is fundamental to the design.
Be very cool to see this become an amazing wheelchair design for somebody...
Dude, you literally invented a thing. I watch a lot of "maker" content creators but rarely do they actually invent a unique thing. Absolutely amazing mate
I'd love to see more of this. It's fascinating.
"My dishwasher is fine thanks" 🤣🤣🤣🤣 I love it!!!!
8:05 If you say so, James. You're the engineer afterall 🤔😕
So happy I stayed up late enough to be here for the new vid!
probably the most consistent and creative youtubers out there, good luck
8:35 this is what it feels playing with tank controls.
What if, hear me out, you replaced the wheels with more balls?
Hmm... So let's say, tracks but with omni wheels?
That really does move wonderfully James!
Amazing work as usual. Congrats!!
Looks awesome! I remember looking into that same tech back when I was designing ball drives. Just thought you might find this project I did a while back pretty interesting, I solved a lot of the problems to do with making a drivetrain with actual solid spheres: czcams.com/video/j09PzmVmzJw/video.html
OH, I remember that video vividly. Pretty much sent it to all of my FTC contacts. My favorite ball drive I’ve seen so far is this: czcams.com/video/INIBjexEA9Q/video.html
@@TheSaheasy oh wow that’s quite unique and cool, I’ve not seen that video before! I’m getting a lot of ball balancer vibes from it with the vertical configuration. That’s also by far the best minimally intrusive ball retention system I’ve seen. Thanks for sharing! My design with 4042 was loosely inspired by this one grabcad.com/library/basketball-riding-omnidirectional-robot-drivebase-1
@@emberklavins9567 My love of ball drives were also founded by an FRC design. I found this randomly one day on chief Delphi: www.chiefdelphi.com/uploads/default/optimized/3X/0/4/0486456db177cce51fa73dd4fd18917606b57695_2_690x500.jpeg
Not too sure on which post I found it on, as it was years ago.
Great work, very interesting. Looking forward to more
😍😍This is soo amazing. Not just this vid. The whole channel. I am incredibly impressed by all of it.
This is really amazing. This robot can really be used for practical applications in automation. Nice work! I hope you build a simple robot like this which can run over curb sidewalks easily.
This is really cool, James!
Amazing James. Congratulations.
This works awesomely, man. I didn't expect such performance out of them while you were building, to be honest.
Amazing content! Really excited to see whatever comes next. It really moves incredibly well. Slap some treads on those bad boys, and you'll be all set!
absolutely smashed this design!
"Good all-rounder!" Love it!
Really amazing, thanks for working so hard to give us ideas and understanding. :):)
it was my 3 year old project when I got idea from the same good year video but couldn't worked out. But watching it now working and runing like that made me feel happy 😍😍.
I would love to see this in a game of some kind. Absolutely lovely.
Excellent project
I'd love to see this concept combined with the foot-wheel thing.
The math for this is impressive. I've done some similar stuff creating game AI/telling objects where to point/move in 3d space- confusing stuff. Nice work!
That looks incredible...
I can dig this. Very impressive!
This was really the best robot part so far. It could really be a practical design with very little change in form, just better materials needed.
I wonder how tread would work on omni-wheels. Tread on tires usually redirects water in the direction of the wheel rotation, but here there is no given direction of wheel rotation. This is not something I would have thought of without seeing this prototype driving over other objects. Awesome work James!
Just wow sir. That's amazing
In the veritable sea of youtubers with poor ideas, you channel is a shining beacon of really cool, functional, content!
That’s honestly so cool
That worked better than I thought 😆 nice 1
Great work 🔥🔥🔥
Good work James
Your creation is another level nothing to say 👍
I was bored and watched the first video got hooked and just subbed because this vid was cool lol that washer machine
Sweet project. Looks like you could lower the center of gravity too. Love the innovation.
Ball shaped wheels would be an amazing experiment for a 3-4 wheeler. Their meant for tough terrain so making the wheels omnidirectional would probably be a huge benefit.
this is awesome, a really easy way to pull off omnidirectional travel, and surprisingly easy to code for by the sounds of it!
I have a suggestion for improving the ball wheels though, It came to me after watching that the driven axel really has no reason to need to be a cylinder you could use some 2 mill flat metal plate and it really wouldn't matter, it would mean you could get those hemispheres super close.
Genius level video !!!😍
This is some satisfactory type stuff
I love where you are going with this. I invented a way to drive the spherical wheel without interference in engineering class and have had it on the backburner ever since. This was actually before goodyears tire design came out but theirs inspired me to keep innovating my design .I wish to invest in a 3d printer so i can test my hypothesis .
Excellent! If you put the motors to the side instead of above, your cog will be better. I'm not worried about the dishwaser, but I do worry about tipping over if you build this up higher, the wheelbase is also small.
Awesome, Great Job
Amazing! Maybe you could replace those white treds with slanted roller contacts also. Making a "Split sphere Mecanum Wheel" or perhaps an omni wheel design with 3d printed linear TPU barrels. It would reduce a lot of friction and would love to see the batteries using less.
That's got to be the coolest robot you have made so far
Keep up the good work
This is sooo cool!!!
This seems like a good application for a deep learning A.I to figure out optimizations for the system of movement, i.e vibration reduction, g force reduction, wear balancing, etc...
OHHHH I LIKE THE WAY YOU WENT WITH THE AXLE WHEELS!!! i had the idea i suggested on your last omni wheel ball vid that perhaps you could take the same concept as anolog mouse trackin sensors of a ball that you than put into a divit that is a bit more than a half circle with room for the ball to rotate so it cant be pushed out but allows easy rotaion in all directions although the way you went is intresting too of from the little sinppet at the begining im guessing that its a normal wheel but its mount allows it to spin in a 360 degree circle and the premise is when it gets on the axle side the flat of the whell will allow it straighen to the direction it needs to to move
Thats incredible
In addition to replacing the round shaft with a flat plate, you could probably actually widen the gap and put TPU "brushes" lining the edges so that they can spread around the axle as the wheel rolls but also provide decent support and traction in the other axes when the wheel is rolling.
I would love to see a head-to-head competition between these wheels and the wheels on the pepper robot.
I think you meant to say love love
This could make an excellent remote controlled camera mount as it can move in any direction and keep the camera in the correct orientation
I am on a robotics team and we made a very similar ball drive. To make the ball drive be able to climb over obstacles we printed hemispheres out of flexible filament. I would love to see a version of the ball drive with squishy wheels made by some one with as much expirence as you.
11:00 the ball joint design would be perfect to eliminate the gap, and also placing and spacing the actuators inside the joint for better and more precise control, and increased traction/torque. A reverse trick that's been in use on computer mouses and trackballs.
This is some good stuff!
looks great! At first I was gonna say that they are similar to mecanums, but they have their pros and cons.
That is really cool.
Great Design James. This would work great for an R2-D2 droid for a bit of fun.