The wheel is the most common moving element among other possibilities including legs, flying, swimming and rolling. A wheel provides at least speed, accuracy and stability for a robot, three characteristics very important in designing and build robots. Finding inspiration in everything, the researchers design many types of wheels including standard, orientable, ball, and omnidirectional wheels.
Depending on the design and requirements, standard wheels are used especially for classical methods of driving and steering while orientable and ball wheels are included in the same category and user for balancing a robot. Omnidirectional wheels are very good for driving and steering and are used when the robot should have the ability to move in all directions.
In this article, I made an overview for standard, orientable, ball, and multi-directional wheels.
Standard Wheels
Most common wheels used in robotics is standard wheels. This type of wheels is characterized by two degrees of freedom and can run in front and back. The angle between the robot frame and the wheel is constant while the center of the wheel is fixed to the robot frame.
In this section of the article I made an overview of standard wheels designed to be used in robotic projects.
Dagu Wild Thumper Wheel 120x60mm
Dagu Wild Thumper Wheel 120x60mm
Polyprop plain 12mm hub wheel,80mm OD
Polyprop plain 12mm hub wheel,80mm OD
MiniQ Motor Wheel Set with Encoder
MiniQ Motor Wheel Set with Encoder
D65mm Rubber Wheel Pair
Wheel 42x19mm
Robot Wheels 8-1/4″
Pro-Line Trencher 2.8″ Mntd on Desperado Black Wheels F
Pro-Line Trencher 2.8″ Mntd on Desperado Black Wheels F
4″ Wheel
Tracked wheel for DC motors 4cm width
Tracked wheel for DC motors 4cm width
Black PA, soft tyre 200×32, BallB 8×60
Black PA, soft tyre 200×32, BallB 8×60
WHEEL&TIRE SET,1 WHEEL WITH 2 RUBBER BAND TIRES
WHEEL&TIRE SET,1 WHEEL WITH 2 RUBBER BAND TIRES
Vex Wheel Kit
Aquabot Pool Rover and Pool Rover Jr. Blue Plastic Wheel
Aquabot Pool Rover and Pool Rover Jr. Blue Plastic Wheel
Off-Road Wheels – 120x60mm
iRobot New Swivel Caster Wheel for Roomba
iRobot New Swivel Caster Wheel for Roomba
POLYURETHANE TYRE CASTOR,250MM
POLYURETHANE TYRE CASTOR,250MM
WHEEL,2×12.38cm
Toy Tires – Basic
Wheel 42x19mm
Nylon wheel w/roller bearing,100mm dia
Nylon wheel w/roller bearing,100mm dia
Orientable wheels
Based on two types including center and off-centered oriented, orientable wheels are standard wheels mounted to a fixed or omni-directional fork designed to catch the wheel. Compared with standard wheels, these wheels are used in robotic projects for balance and less or not at all to drive a robot.
Below is a list with orientable wheels ready for use in robotic projects.
CASTER WHEEL,6.8oz,3.9in
Rubber tyred wheel,100mm
Ball wheels
Based on a ball, these wheels have a total freedom of 360 degrees and like orientable wheels are used to balance a robot. The ball can be builded from metal or plastic and is positioned on the frame with a holder. Bellow I made an overview of ball wheels for robots.
Ball Caster Omni-Directional Metal
Ball Caster Omni-Directional Metal
Pololu Ball Caster with 3/8″ Metal Ball
Pololu Ball Caster with 3/8″ Metal Ball
Castor small
Pololu Ball Caster with 1″ Plastic Ball
Pololu Ball Caster with 1″ Plastic Ball
POLYETHYLENE,1 INCH
Multi-directional Wheels
Small wheels are attached on a large wheel to build a multi-directional system designed for robots for movement in any direction. This type of wheel is used for both drive and steer a robot. One important advantage using multi-directional wheels is a low resistance when the robot is moving in any direction. The smaller wheels are attached to a large wheel at 45 degrees.
Below you can be found links to a comprehensive list with multi-directional wheels.
MULTI-DIRECTION ROLLER
Dagu Omni Wheel – 48mm
100mm Left Mecanum Wheel
Mecanum Wheel 4″
Mecanum wheels
152mm Omnidirectional Wheel
6” Mecanum Wheel Set
8” Mecanum Wheel Set
Mecanum wheels
