Omni-directional NXT Vehicle

This is a video of an omni-directional vehicle (named Brigitte), i.e. a vehicle capable of going in any direction in the 2D
plane. It is build entirely from LEGO. It is controlled by a joystick connected to a PC running a Java
program. The program processes the joystick input and transmits commands to the two NXT's on the robot via Bluetooth. The NXT's are running leJOS version 0.4.

The wheels are inspired by the Mecanum wheels invented in 1973 by the Swedish engineer, Bengt Ilon. Each Mecanum wheel has six rollers with three smaller wheels on a 45° angled axis. Each time one of the smaller wheels get grip, they will force the Mecanum wheel on a 45° angle in proportion to the axis of the Mecanum wheel. Think of the force as a geometric vector with a speed and a direction. When four Mecanum wheels have been properly mounted in a frame, each wheel will exert a force on the frame when rotating and the result is a single vector with a direction and a speed.

Category:

Science & Technology

Tags:

• LEGO
• robot
• omni
• directional
• NXT
• leJOS
• Mecanum
• Bengt
• Ilon
• Airtrax
• Mindstorms
• brigitte
• esea

[tiagojbatista]

good job!!!

[koldo57]

good job!!

[b0gen]

niice!