MECANUM WHEEL

1 . A mecanum wheel comprising:

a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference,

a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference; each of the plurality of second mounting mechanisms having a corresponding first mounting mechanism;

a plurality of roller units, each having:

a roller surface and a hollow center cavity;

an axle disposed in the hollow center cavity, the axle having a first end extending outside of a first end of the hollow center cavity and connected to one of the first mounting mechanisms of the first wheel frame and having a second end extending outside of a second end of the hollow center cavity and connected to the corresponding second mounting mechanisms of the second wheel frame; and

wherein the first end of each axle includes an angled tip portion with a substantially flat surface.

2 . The mecanum wheel of claim 1 , wherein each first mounting mechanism includes an elastic compression piece having a first surface disposed on the substantially flat surface of the angled tip portion of the first end of the axle.

3 . The mecanum wheel of claim 2 , wherein the elastic compression piece comprises an elastomer.

4 . The mecanum wheel of claim 2 , wherein each first mounting mechanism includes a cover piece in contact with a second surface of the compression piece and configured to compress the compression piece against the substantially flat surface of the angled tip portion of the first end of the axle.

5 . The mecanum wheel of claim 4 , wherein the substantially flat surface of the angled tip portion of the first end of the axle is parallel to an external surface the first wheel frame and the cover piece is mounted on the external surface of the first wheel frame.

6 . The mecanum wheel of claim 5 , wherein the cover piece is adjustably attached to the first wheel frame so that compression of the elastic compression piece can be increased or decreased.

7 . The mecanum wheel of claim 6 , wherein the cover piece is adjustably attached to the first wheel frame by a screw and turning the screw in one direction increases the compression of the elastic compression piece and turning the screw in an opposite direction decreases the compression of the elastic compression piece.

8 . The mecanum wheel of claim 4 , wherein each second mounting mechanism includes a surface having a centrally located concave region to receive the second end of the axle.

9 . The mecanum wheel of claim 8 , wherein each second mounting mechanism includes an integrated washer disposed about the concave region; the integrated washer contacting a set of bearings on the roller unit disposed about a circumference of the hollow center cavity at the second end of the hollow center cavity.

10 . The mecanum wheel of claim 9 , wherein the first end of the axle includes a flange proximate the angled tip portion, the flange contacting the first end of the hollow center cavity.

11 . A mecanum wheel comprising:

a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference,

a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference; each of the plurality of second mounting mechanisms having a corresponding first mounting mechanism;

a plurality of roller units, each having:

a roller surface and a hollow center cavity;

an axle disposed in the hollow center cavity, the axle having a first end extending outside of a first end of the hollow center cavity and connected to one of the first mounting mechanisms of the first wheel frame and having a second end extending outside of a second end of the hollow center cavity and connected to the corresponding second mounting mechanisms of the second wheel frame;

wherein the first end of each axle includes an angled tip portion with a substantially flat surface; and

wherein each first mounting mechanism includes an elastic compression piece having a first surface disposed on the substantially flat surface of the angled tip portion of the first end of the axle.

12 . The mecanum wheel of claim 11 , wherein the elastic compression piece comprises an elastomer.

13 . The mecanum wheel of claim 11 , wherein each first mounting mechanism includes a cover piece in contact with a second surface of the compression piece and configured to compress the compression piece against the substantially flat surface of the angled tip portion of the first end of the axle.

14 . The mecanum wheel of claim 13 , wherein the substantially flat surface of the angled tip portion of the first end of the axle is parallel to an external surface of the first wheel frame and the cover piece is mounted on the external surface of the first wheel frame.

15 . The mecanum wheel of claim 14 , wherein the cover piece is adjustably attached to the first wheel frame so that compression of the elastic compression piece can be increased or decreased.

16 . The mecanum wheel of claim 15 , wherein the cover piece is adjustably attached to the first wheel frame by a screw and turning the screw in one direction increases the compression of the elastic compression piece and turning the screw in an opposite direction decreases the compression of the elastic compression piece.

17 . The mecanum wheel of claim 13 , wherein each second mounting mechanism includes a surface having a centrally located concave region to receive the second end of the axle.

18 . The mecanum wheel of claim 17 , wherein each second mounting mechanism includes an integrated washer disposed about the concave region; the integrated washer contacting a set of bearings on the roller unit disposed about a circumference of the hollow center cavity at the second end of the hollow center cavity.

19 . The mecanum wheel of claim 18 , wherein the first end of the axle includes a flange proximate the angled tip portion, the flange contacting the first end of the hollow center cavity.

20 . A mecanum wheel comprising:

a first wheel frame having a circumference and a plurality of first mounting mechanisms spaced about the circumference;

a second wheel frame having a circumference and a like plurality of second mounting mechanisms spaced about the circumference; each of the plurality of second mounting mechanisms having a corresponding first mounting mechanism;

a plurality of roller units, each having:

a roller surface and a hollow center cavity;

an axle disposed in the hollow center cavity, the axle having a first end extending outside of a first end of the hollow center cavity and connected to one of the first mounting mechanisms of the first wheel frame and having a second end extending outside of a second end of the hollow center cavity and connected to the corresponding second mounting mechanisms of the second wheel frame; and

wherein the first end of each axle includes an angled tip portion with a substantially flat surface and a flange proximate the angled tip portion;

wherein each first mounting mechanism includes an elastic compression piece having a first surface disposed on the substantially flat surface of the angled tip portion of the first end of the axle and wherein the flange contacts the first end of the hollow center cavity;

wherein each second mounting mechanism includes a surface having a centrally located concave region to receive the second end of the axle; and

wherein each second mounting mechanism includes an integrated washer disposed about the concave region; the integrated washer contacting a set of bearings on the roller unit disposed about a circumference of the hollow center cavity at the second end of the hollow center cavity.