{"product_id":"omnidirectional-xrp-robot","title":"Omnidirectional XRP Robot","description":"\u003cp\u003eThis is a modified XRP chassis with swerve drive modules.\u003c\/p\u003e\u003cfigure class=\"media\"\u003e\u003coembed url=\"https:\/\/youtu.be\/nNIqmeen0-I\"\u003e\u003c\/oembed\u003e\u003c\/figure\u003e\u003cp\u003eI tried to keep most of the original XRP features, so the size and mounting rails are the same. Both the battery and the controller are mounted in a frame as in the original (however vertical), and the o-ring and the motors are the same.\u003c\/p\u003e\u003cp\u003eThe swerve drive allows the wheels to spin and change direction by the use of two stationary motors. The rotation of the motors is transferred to the wheel assembly by the use of two gears rotating around the wheel. The model features both a differential swerve (orange) and coaxial swerve (green). The modules look the same from the outside, but are controlled differently. \u003c\/p\u003e\u003cp\u003e \u003c\/p\u003e\u003cp\u003eFor an explanation of the differential module see this video: \u003c\/p\u003e\u003cfigure class=\"media\"\u003e\u003coembed url=\"https:\/\/youtu.be\/TP8wQRZUuk4\"\u003e\u003c\/oembed\u003e\u003c\/figure\u003e\u003cp\u003eThe coaxial version differs, in that the large lower gear is different. It doesn't have teeth on the inside. So the lower gear is not coupled to the axle of the wheel. Instead, it has a tab, that locks the gear to the inner hub (gray). This means, that the lower gear directly controls the angle of the wheel, while the top gear controls the rotation of the wheel. The section view below shows how the lower gear locks to the hub:\u003c\/p\u003e\u003cfigure class=\"image image_resized\" style=\"width: 70.82%\"\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_q2cephvgcg5t.png\"\u003e\u003c\/figure\u003e\u003ch4\u003ePrinting\u003c\/h4\u003e\u003cp\u003eThe table below summarizes how many times you need to print each part. Most parts can be printed without support, but I recommend adding tree support for the chassis and the hub-bottom.\u003c\/p\u003e\u003cfigure class=\"table\"\u003e\u003ctable\u003e\n\u003cthead\u003e\u003ctr\u003e\n\u003cth\u003ePart\u003c\/th\u003e\n\u003cth\u003eQty for differential\u003c\/th\u003e\n\u003cth\u003eQty for coaxial\u003c\/th\u003e\n\u003c\/tr\u003e\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003echassis\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003egear-differential\u003c\/td\u003e\n\u003ctd\u003e4\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003egear-coaxial\u003c\/td\u003e\n\u003ctd\u003e0\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ehub-bottom\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ehub-top\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003egear-bottom-small\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003egear-top-small\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ewheel-gear\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ewheel-axle\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ekit-motor-mount-a\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ekit-motor-mount-b\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003ctd\u003e2\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003ecover-sensor\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003emount-battery\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003emount-pcb\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003ctd\u003e1\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\u003c\/figure\u003e\u003cp\u003eNote, that the only difference between the differential and coaxial configuration is the gears. For the coaxial, the bottom gear is different from the differential version.\u003c\/p\u003e\u003cp\u003eAll model files are provided in stl and step format. You only need one of the formats. Step is easier to modify and also prints nicer.\u003c\/p\u003e\u003ch4\u003eOther Parts\u003c\/h4\u003e\u003cp\u003eIf you already have an XRP robot and you want to experiment with swerve drives, you only need very few parts in addition to the printed parts.\u003c\/p\u003e\u003cfigure class=\"table\"\u003e\u003ctable\u003e\n\u003cthead\u003e\u003ctr\u003e\n\u003cth\u003ePart\u003c\/th\u003e\n\u003cth\u003eQty\u003c\/th\u003e\n\u003c\/tr\u003e\u003c\/thead\u003e\n\u003ctbody\u003e\n\u003ctr\u003e\n\u003ctd\u003eHex socket head cap screw M3x16\u003c\/td\u003e\n\u003ctd\u003e9\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHex socket head cap screw M3x20\u003c\/td\u003e\n\u003ctd\u003e4\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003eHex socket head cap screw M3x35\u003c\/td\u003e\n\u003ctd\u003e6\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e\u003ci\u003eHall sensor A3144\u003c\/i\u003e\u003c\/td\u003e\n\u003ctd\u003e\u003ci\u003e2 \u003c\/i\u003e\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003ctr\u003e\n\u003ctd\u003e\u003ci\u003eCylindrical magnet 4x5mm\u003c\/i\u003e\u003c\/td\u003e\n\u003ctd\u003e\u003ci\u003e2\u003c\/i\u003e\u003c\/td\u003e\n\u003c\/tr\u003e\n\u003c\/tbody\u003e\n\u003c\/table\u003e\u003c\/figure\u003e\u003cp\u003eParts in \u003ci\u003eitalic\u003c\/i\u003e are only needed if you want automatic zeroing of the direction of the wheels.\u003c\/p\u003e\u003cp\u003eIn addition to those parts you will also need some XRP parts: 4 motors (the photos only show one dummy motor mounted), 4 O-rings, 2 castor balls, controller and battery.\u003c\/p\u003e\u003ch4\u003eAssembly\u003c\/h4\u003e\u003col\u003e\n\u003cli\u003eAttach \u003ci\u003ewheel-axle\u003c\/i\u003e with \u003ci\u003ewheel-gear\u003c\/i\u003e using M3x35. Also, add the o-ring.\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_wdawckiuqmoq.png\"\u003e\n\u003c\/li\u003e\n\u003cli\u003eI recommend lubricating all moving parts during the assembly. I used lithium grease for this.\u003c\/li\u003e\n\u003cli\u003eThe wheel assembly is attached to the top \u003ci\u003egear-differential\u003c\/i\u003e and the \u003ci\u003ehub-top\u003c\/i\u003e.\u003cbr\u003e \u003cimg class=\"image_resized\" style=\"width: 51.67%\" src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/25e9a02c-0f6f-438d-b143-e6797fedae16.png\"\u003e\n\u003c\/li\u003e\n\u003cli\u003eWith the \u003ci\u003echassis \u003c\/i\u003ehaving the bottom facing upwards, put the assembly in:\u003cbr\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_m52gzy4zq7ht.png\"\u003e\n\u003c\/li\u003e\n\u003cli\u003eStill working from the bottom, attach the \u003ci\u003ehub-bottom\u003c\/i\u003e to the second \u003ci\u003egear-differential\u003c\/i\u003e, and secure the bottom parts to the top parts with 4 M3x16. If you want automatic zeroing with a hall-sensor, also glue in a 4x5mm magnet.\u003cbr\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_z7bv7y6xp4z4.png\"\u003e\n\u003c\/li\u003e\n\u003cli\u003eWorking from the top, attach \u003ci\u003ekit-motor-mount-a\u003c\/i\u003e to the motor, and add the \u003ci\u003egear-bottom-small\u003c\/i\u003e to the motor axle. Slide in the motor assembly from the side, and secure with one M3x20 and one M3x35.\u003cbr\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_pwp5zyrw04s9.png\"\u003e\n\u003c\/li\u003e\n\u003cli\u003eThe other motor attaches the same way, but with the parts \u003ci\u003ekit-motor-mount-b\u003c\/i\u003e and the \u003ci\u003egear-top-small\u003c\/i\u003e\n\u003c\/li\u003e\n\u003cli\u003eRepeat for the second wheel. As explained above, you can use \u003ci\u003egear-coaxial\u003c\/i\u003e for the bottom gear, if you want coaxial control.\u003c\/li\u003e\n\u003cli\u003eFinally, you can slide in\u003ci\u003e mount-battery\u003c\/i\u003e and \u003ci\u003emount-pcb. \u003c\/i\u003eAlso, for automatic zeroing you can put 2 A3144 hall-sensors in the holes in the \u003ci\u003echassis \u003c\/i\u003eand fix them using \u003ci\u003ecover-sensor \u003c\/i\u003eand one M3x16.\u003cbr\u003e\u003cimg src=\"https:\/\/makerworld.bblmw.com\/makerworld\/model\/DSM00000000933334\/design\/2024-12-31_wqhln8l6q8d3.png\"\u003e\n\u003c\/li\u003e\n\u003c\/ol\u003e\u003cp\u003e\u003ci\u003eIf you make remixes of this model and publicly shares the modifications, please consider uploading your changes in an editable format like STEP. It makes it so much easier for others to improve on your changes.\u003c\/i\u003e\u003c\/p\u003e\u003cp\u003eDesign by WildWillyRobots on MakerWorld (license: BY).\u003c\/p\u003e","brand":"Mymadmanlab","offers":[{"title":"Default Title","offer_id":67397567578416,"sku":null,"price":9.99,"currency_code":"USD","in_stock":true}],"thumbnail_url":"\/\/cdn.shopify.com\/s\/files\/1\/0987\/0809\/5280\/files\/0_e97bbcfb-b073-4453-b8b9-cd931c697289.jpg?v=1784870472","url":"https:\/\/mymadmanlab.com\/products\/omnidirectional-xrp-robot","provider":"Mymadmanlab.com","version":"1.0","type":"link"}