Omnidirectional wheels and associated wheel guards
Technology is provided for omnidirectional wheels having rolling surfaces configured to roll over obstacles when the wheel is moving sideways with respect to its axis of rotation. The omnidirectional wheel can include a central disk assembly and a pair of lateral disk assemblies coaxially positioned on opposite sides of the central disk assembly. The central disk assembly can include a central carrier plate having a first diameter and a plurality of central rollers each rotatably coupled to a circumferential margin of the central carrier plate for rotation about a first roller axis oriented orthogonal to an axis of the wheel. Each lateral disk assembly can include a lateral carrier plate having a second diameter smaller than the first diameter and a plurality of lateral rollers each rotatably coupled to a circumferential margin of the lateral carrier plate for rotation about a second roller axis oriented orthogonal to the wheel axis.
1. A mecanum wheel mountable for rotation about a wheel axis, comprising:
a first hub disk having a first diameter and a plurality of first roller mounts disposed around a circumferential margin of the first hub disk;
a second hub disk having a second diameter smaller than the first diameter and a plurality of second roller mounts disposed around a circumferential margin of the second hub disk; and
a plurality of rollers each extending between corresponding circumferentially offset first and second roller mounts, whereby each of the plurality of rollers is mounted for rotation about a corresponding roller axis oriented at a compound angle with respect to the wheel axis.
2. The mecanum wheel of claim 1 , wherein each of the plurality of rollers is tapered from a large end coupled to a corresponding one of the first roller mounts to a small end coupled to a corresponding one of the second roller mounts.
3. The mecanum wheel of claim 1 , wherein, for each of the plurality of rollers:
the corresponding roller axis is oriented at a first angle relative to a first plane that includes the wheel axis; and
the corresponding roller axis is oriented at a second angle relative to a second plane that includes the wheel axis and is orthogonal to the first plane.
4. The mecanum wheel of claim 3 , wherein the first angle is 45 degrees.
5. The mecanum wheel of claim 3 , wherein the second angle is 45 degrees.
6. A wheeled vehicle comprising:
a chassis; and
a plurality of mecanum wheels rotatably coupled to the chassis, wherein each of the plurality of mecanum wheels rotates about a corresponding wheel axis, and wherein each of the plurality of mecanum wheels comprises:
a first hub disk having a first diameter and a plurality of first roller mounts disposed around a circumferential margin of the first hub disk;
a second hub disk having a second diameter smaller than the first diameter and a plurality of second roller mounts disposed around a circumferential margin of the second hub disk; and
a plurality of rollers each extending between corresponding circumferentially offset first and second roller mounts, whereby each of the plurality of rollers is mounted for rotation about a corresponding roller axis oriented at a compound angle with respect to the corresponding wheel axis.
7. The wheeled vehicle of claim 6 , wherein, for each of the plurality of mecanum wheels, the wheel axis of the corresponding mecanum wheel is oriented relative to the chassis such that a rolling surface of the corresponding mecanum wheel is level with a ground surface.
8. The wheeled vehicle of claim 7 , wherein, for at least one of the plurality of mecanum wheels, the second hub disk of the corresponding mecanum wheel faces the chassis such that the corresponding mecanum wheel possesses negative camber with respect to the chassis.
9. The wheeled vehicle of claim 7 , wherein, for at least one of the plurality of mecanum wheels, the first hub disk of the corresponding mecanum wheel faces the chassis such that the corresponding mecanum wheel possesses positive camber with respect to the chassis.