Check out part 2 - will it balance on one wheel? kzread.info/dash/bejne/dJOWurlrpsnRnZM.html

@Prank-_-Patrol

2 жыл бұрын

I don't know if you know this, but herbie was ment to me in fan4stic, and was ment to be just like the robot at the start of this video, but with a soccer or basketball!

@teslauzbekistan

2 жыл бұрын

What university major is to chouse in order to make this kind of cool robots?

@ccmc919

2 жыл бұрын

kzread.info/dash/bejne/X56lpK2Tm7PUaJM.html

@ChrisHillASMR

2 жыл бұрын

This really grinds my gears.....need to angle the teeth properly for engagement. Deeper grooves. Gears need to engage properly to get any work out of them. I wish I lived in a higher IQ dimension.

@hxhdfjifzirstc894

2 жыл бұрын

I really couldn't figure out the potential advantages of a single complicated wheel over 4 simple wheels... What is this going to be applied to?

The Honda U3-X looks like a chair an evil mastermind would have

@lancethrustworthy

2 жыл бұрын

I want several of it and its further evolved descendants.

@leftaroundabout

2 жыл бұрын

It looks like something a hilarious Bond villain caricature played by Mike Myers or David Mitchell would have.

@scrocrates6380

2 жыл бұрын

Exactly what I was thinking

@TechyBen

2 жыл бұрын

OK Go did an entire music video dancing with these. XD

@remy-

2 жыл бұрын

We miss the option for the evil-sidekick-cat 😂

here as well as with some of your gearbox videos (harmonic drive, and I think one of the cycloidal drives), you use flexible filament for grip or ductility. It does do both of those things but it also saps efficiency and puts more load on the motor. Think biking on a flat, soft tire vs an inflated and much harder one. It's a balancing act to get grip and efficiency, but in my experience most 3d printing flexible filaments are too soft for transmission rollers. Maybe try PLA rollers with just a thin rubber tire on the small wheels for grip.

@EgorKaskader

2 жыл бұрын

To be fair, compared to the traditional machining, hobby-level printers may be working with tolerances of 0.1 - 0.2mm even when tuned quite well, which is a lot more slop than you'd expect from machined parts. That could have an impact on how well harder rollers grip.

@syedsulaiman8380

2 жыл бұрын

Have you ever used TPU depending on the infill u can't make it very hard I don't think ur they are as soft as you think they are

@H34...

2 жыл бұрын

@@syedsulaiman8380 I've got a roll of TPU and have seen lots of other people's prints as well. It may feel "firm" to the touch but its still very soft as compared to the rubber on a tire or drive belt.

@H34...

2 жыл бұрын

@@EgorKaskader True, but even then I think you'd be better off with two hard rollers, with one having a thin TPU tire for more traction and to soak up the loose tolerances. Or at least one soft wheel and one hard wheel to minimize the energy lost to soft, squishy rollers.

@Bizzybugproductions

2 жыл бұрын

Listen, you don’t know a thing

I think you may have mis-interpreted part of the patent. Those "teeth" should be helical. All you are doing is reducing the contact area between the driven and drive wheels in your design. Either make them with matching helices, or make them smooth (smooth is probably better unless you understand gears and can machine them more accurately than a 3d print).

@hxhdfjifzirstc894

2 жыл бұрын

There's many things odd about this design.

you could get more grip between the sub wheels of the omniwheel and the rollers on the side plates by making the subwheels with a 45 degree diamond pattern instead of straight ridges. This way the ridges of the rollers will match up and apply a pushing/pulling force instead of mostly friction

@justsomeguywithoutamustach7151

2 жыл бұрын

@@getonthecrossanddontlookba5004 Stop spamming

@liampowers8570

2 жыл бұрын

@@justsomeguywithoutamustach7151 the original comment may be deleted, but based on the name I have a pretty good idea of what was posted

What you have here is essentially 2 mecanum wheels engaging intermediate rollers which engage the floor. In my opinion, 2 side-by-side mecanum wheels directly engaging the floor would be better. The only thing you would have to assure is division of the load between the 2 wheels. That can be done with a short equalization lever.

@Acamperfull

2 жыл бұрын

Yes but then there would be an extra torque when the two side-by-side mecanum wheels are rotating in the opposite direction

@isaaczoesch158

2 жыл бұрын

yes, but then the sideways movement would be very reliant on floor traction due to the mencanum wheels. his design would be more relaible on a vareity of surfaces.

@Blayzeing

2 жыл бұрын

An interesting observation, though for self-balancing (his ultimate goal with this) co-axial dual-mecanum wheels are notoriously difficult to use. They also have the down-side of blocking rotation about the axis perpendicular to the line formed between the two wheels, meaning that it wouldn't be able to balance on uneven surfaces (or go up a hill sideways) nearly as well.

@randomblogger2835

2 жыл бұрын

here's a crazy idea,. have two mecanum wheels, but put one inside the other!

@bpark10001

2 жыл бұрын

@@isaaczoesch158 ANY balancing scheme with 1 or 2 wheels MUST have friction with the surface just to balance. That's why bikers suddenly fall when encountering icy or wet slick roads. The 2 wheels could be guaranteed equal force-bearing by using a lever equalization link (like used in steam locomotives). The largest objection to the 2 side-by-side scheme is the torque about the vertical axis generated when driving the wheels in opposite directions. This could be mitigated by using 3 wheels side-by-side, the outer 2 driven together, & the center one separately. (He might object to this as the vehicle is no longer technically "1 wheel". But the best way to do this is to have real legitimate gearing to drive the smaller wheels. This will be intricate with bevel gears, but doable with his extensive 3D printing equipment & experience if he makes the wheel larger. This would permit the small wheels to be football shaped, giving a true circular outside profile.

Your 'prototypes' and 'test devices' are amazing accomplishments all on their own! Well done!

One seemingly important difference between your omni-wheel and its inspirations is that the smaller wheels aren't interconnected. I think you are losing a bit of torque and efficiency potential by essentially driving only 1-2 smaller wheels at a time (the ones in contact with ground) rather than all of them.

@nekkowe

2 жыл бұрын

After the ornithopter videos (no difference in AoA between up/downstroke) and that CMG project (no way to desaturate the gyros), it seems to be a bit of a common theme here that important details of the technology are routinely neglected. Amazing projects nonetheless, even if the results end up hampered by it

@olik136

2 жыл бұрын

but they also seem to use a flexi shaft in both directions- I think they are only strong in one direction and you can damage them easily if you use in the other direction

I don't like the patented idea - too much rubbing/friction. The OmBURo concept is much more realistic albeit with room for optimizations. Having the little wheels rolling obliquely against one-another sounds very inefficient.

@doopfdeckel

2 жыл бұрын

...so does the flexible shaft and the 90° gears. would to good to be true if this is every day life some day.

@notahotshot

2 жыл бұрын

@@doopfdeckel "would to good to be true if this is every day life some day" Lol wut?

@user-me3ce1fk4l

2 жыл бұрын

I think multiple 90° helical gear connections and a large circumference long flexible shaft would produce more friction/be harder to drive. Especially if you have a larger weight on top like a human

@downey2294

2 жыл бұрын

@@user-me3ce1fk4l or your mom... hehe sorry i couldn't help myself

@xxportalxx.

2 жыл бұрын

@@user-me3ce1fk4l they both use flex shafts in the original designs he showed.

Maybe those small driving wheels on sides can have some kind of spiral-shaped gear teeth so they would lock with the bigger wheels. Or it's named helix, not spiral. The point is that the teeth on the smallest wheels can be not just parallel to their axis but go under 45º angle around

What if you use interlocking conical gears on the ends of the rim wheel axles. So you get a form of 'bent gear coupler'. These conical gears cab be made for other angles than just 90 degrees like in a differential.

if you had a singular ball in the center with the rollers acting as stabilizers instead of the locomotion; could you then have an omni-wheel made from a ball?

@da.de.7915

2 жыл бұрын

kzread.info/dash/bejne/lK2J0ZZ-kcq-pZM.html that would be this with a smaller ball

@johnpetters3328

2 жыл бұрын

Problem with a ball is the dirt you pick Up from the ground getting stuck in the drive, if this wasnt the case Every car in the world would have had globular Tires by now

@jennalove6755

2 жыл бұрын

@@johnpetters3328 Brushes and maybe compressed air

@jpratt8676

2 жыл бұрын

​@@jennalove6755 Yeah, seems like it would be pretty simple to push air through from the top to flush out and even cool the wheel if need be.

think we need to show more appreciation to Honda who are just inventive geniuses.

@pirojfmifhghek566

2 жыл бұрын

Honda's R&D dept christmas parties must be fuckin' wild.

Love it. Do you have any issues with the "strafe" speed being so much slower than the "roll" speed? Seems like it might cause a bit of a control problem

@everettdiy8777

2 жыл бұрын

@C l a r a ♥️ Silence, thot bot. Men are talking about stuff that actually matters.

@Astronopolis

2 жыл бұрын

Probably just a case of using just some spare motors, he seems to have just been doing proof of concept here. A faster more powerful motor would do the trick, I think he’s still gotta work out the play in the rollers themselves to work out precision and accuracy with the movement before being able to balance I suspect

You're seriously a genius man... I wish I had your level of consistent intellectual persistence

This is so cool, that guy just floating about on a chair in all directions is awesome I can't wait to see the next iteration...cheers.

Nice! 🙂 You should make the teeth of the TPU wheels disgonal so that they mesh like a gear. And you should perhaps make the large rollers more like a barrel, i.e. make the outer diameters somewhat smaller than the diameter in the middle.

Brilliant concept, great execution as usual 👍

So darn cool. AWESOME PRACTICAL Designs and experimentation

Love it, love it, love it... sometime you just stumble upon videos that ust gets all the gears in your head turning.... this is def one of them! Thank you so much for psting! Cheers from Dominican Republic.

So, if the two motors engage at the same direction but different speed, does it move diagonally?

@mars5train601

2 жыл бұрын

Yes

I wonder if you could print a helical tooth pattern on the outer rollers that the smaller drive rollers can bite into? I assume it would have to be two counter-twisting helices, one for each side of rollers, so effectively the outer rollers would just be knobby.

@Theimtheimtheim

2 жыл бұрын

This will probably not work because the outer wheels are flat/cylindrical and not round/parts of a torus as shown in the patent. But its worth a try, i guess 🤔

@claws61821

2 жыл бұрын

I was thinking this as well but having trouble thinking of a profile that would allow engagement with both sets of smaller rollers as well as the ground... Somehow your comment reminded me of a video I saw recently (past three months) with some very interesting knurled or cross-hatched gear profiles that might work.

James, for a flexible shaft, you can use a spring, like what you find in a drain snake. They are super tough and can take a lot of torsional load while bent in a radius.

I bet if you used a narrow hub for the drive rollers with a thick you tread you will get the best of both worlds. Flex of the wheel and less play against the axle. Freaking amazing build. I look forward to seeing more.

Idea: mount the two driving wheels at a slight angle relative to the vertical central plane - this way you only get traction - and, more importantly, friction - where you need it: at the bottom

@iAmTheSquidThing

2 жыл бұрын

It strikes me that the whole mechanism could be simpler if you were only concerned about driving the bottom 3 or 4 rollers.

@ErosNicolau

2 жыл бұрын

Yes, the only reason to drive all the wheels is simplicity of design

@huzeff

2 жыл бұрын

Was about to comment on that as well! But slanted wheels would cause problems with contact patch between the main and driving wheels. The same goes for smaller and eccentrically mounted (towards the bottom) side wheels. Maybe some clever geometry could prevent this?

@ErosNicolau

2 жыл бұрын

@@huzeff I'm sure the geometry would have to adapt - but that's not an issue for James

I wonder if there is a special gear tooth geometry that would increase the contact between the red rollers.

It never ceases to amaze me how many sponsors you can get in a video .

Amazing how old the gyroscope is and never let us down and used so proficiently today in many different fields

*While I do like the experiments, I would also like to know what could be useful for?* Because to be honest, sometimes I have no clue of any practical applications In this case, I do know Omni-Wheel applications, but for 1 wheel? Not really.

@AnnoDominiAD

2 жыл бұрын

2 omni wheels = omni directional bike 4 omni wheels = omni directional cars etc

@hxhdfjifzirstc894

2 жыл бұрын

That's what I was wondering, the whole way through. I couldn't think of anything to do with it.

@hxhdfjifzirstc894

2 жыл бұрын

@@AnnoDominiAD But what's the point of an omni directional car or bike? And if it's so great, why choose the most complicated way to do it? What are we even talking about, here?

@komandoklucha

2 жыл бұрын

@@AnnoDominiAD its too complicadted to be durable and cheap enough and on top of that you have grip problems due to small wheels etc. there are way simpler designs

@getonthecrossanddontlookba5004

2 жыл бұрын

Repent to Jesus Christ “Search me, God, and know my heart; test me and know my anxious thoughts. See if there is any offensive way in me, and lead me in the way everlasting.” ‭‭Psalms‬ ‭139:23-24‬ ‭NIV‬‬

Is there a way to have a motor fixed to the body that drives only the current bottom wheel? that way there is much less friction and you are not wasting power turning all those other wheels that are not touching the ground. Edit: You would also be able to turn at the same time as you are going forward. It doesn't look to me like the current build does that. Edit 2: Maybe the 3 current bottom wheels so you can turn when going up hill or on uneven terrain.

@macrumpton

2 жыл бұрын

I thought the same thing. Why drive all the other rollers when the 3 on the bottom are doing all the work. You could just have a friction drive on the bottom 3 rollers.

Wow this is an awesome project. Very detailed and time consuming but an amazing project. Cannot imagine how long the prints took where I can only stand to print at max 4 hours at a time lol

Very creative.i really enjoyed the learning /development of the idea into the actual prototype. Would love to have a 3d printer .it just takes so much time.

This guy has more sponsors than the super bowl.

You always have great socks, James. Completely off-topic, but I just had to point it out.

Hello, thank you for your awesome videos. But I have one question on this particular video. Wouldn't it work better if you had printed diagonal lines on the little hubrolls instead of the straight lines? So that they could line up better with the bigger outputwheels wheels.

That's so clever! Excellent video. Hope to see more of this later.

I'm always amazed seeing the solutions that the human brain can come up with. I'm also impressed that people are capable of turning such ideas into actual 3D models so they can be manufactured. I am a bit worried about wear and tear on this particular omni wheel.

@Paul-rs4gd

2 жыл бұрын

Just wait until you see the solutions that non-human brains come up with....

@nkronert

2 жыл бұрын

@@Paul-rs4gd an air hockey table? 😉

I was watching and thinking "what about a reaction wheel" and then you got to that. These are very clever and cool machines you built!

A very clear explanation of a very ingenious mechanism !

Use pulleys on the secondary gears to drive the axles of small treads for better ground contact and power delivery, since you could make a high precision set of gears to drive the whole mechanism and keep it protected within the assembly. A tire or pair of tires might work well too…

I just found this channel so I don't know anything about past projects but at 1:07 it's mentioned that it turns opposite way it leans. Theirs a video called "Most people don't know how bikes work" by Veritasium It mentions this weird effect is also on bikes. With a slow mo from the front. It could be useful to know these types of things as well as maybe getting slow mo of a unicycle turning.

If the center wheel and the two outer wheels had different centers of rotation then you could adjust it such that only the bottom would be "active" ... thus reducing friction. Great job at conceptualizing this.

I'm planning on using a number of these techniques on an upcoming project, to make a replica of the killer tire from the film Rubber. But all the parts have to basically float inside the walls of the tire so that the center remains completely empty. I haven't completely worked out if I want it to be able to lean left and right by shifting gyros or if I can turn the battery box into a servo actuated counterweight in the top and have that be sufficient.

I've gotta show this to my FTC team! They're gonna love this, thanks for the amazing video

One advantage with the Honda patent version is that all the small wheels are contributing to the rotation force applied the two or three wheels actually supporting the unit. One possible way to make "rope" axle would be to use multiple layers of carbon fibre or kevlar with each layer twisted in opposite directions. You would, of course, have to bind the rope axle . Could possibly use resin.

Very cool! I wonder if there would be any benefits from making the drive hubs smaller, and offsetting them so the little gears only engage with the larger ones that are in contact with the floor. Maybe the little hubs could also be more perpendicular to the main hub (more parallel with the floor) so they could squeeze the driving gears harder, while also reducing the lateral twisting on the little hubs.

Very well presented, good work!!

glad you took the advice and did it!

Bro your work is amazing… oh god. Great equipment and program. thanks to share.

Fabulous work, congratulations. I have a feeling I'm looking at a summary of years of work. It's a wonderful new world we live in with 3D printers, cheap electronics and control systems.

Great stuff and description 👍

I think using worm gear can directly change the spinning direction from the large wheel to the small wheel. Moreover, springs or some elastic plastic can detach the gear of small wheel from the large wheel. When the small wheel press against the ground, the gear bind together again. This may reduce the energy loss due to the friction when moving the useless small wheel

Question: To get an angled path of travel(forward/backward and left/right simultaneously) would you rotate the two drive gears in opposite directions at differing rates? As in, the difference between the speed of the two rotating gears would be translated into forward/backward motion?

I have seen a RC toy called Air Hogs Upriser that has driven omniwheel and able to self balance on single wheel. Its internal mechanism is more similar to traditional differential drive gears. Not sure whether it is still suitable for more heavy-duty robots.

That unexpected twisting was covered in that veritasium video with the bike that can (not/only) steer right.

That "tilting changing the way the wheel steers" is exactly why I decided to dismantle my one wheeled Vespa. I saw the 1000w one that Bel Y Bel made a couple years ago, and decided to try making one with a much stronger 3000w motor, and it was just too hard to control at that speed. You could definitely upscale this Omni wheel to a serious vehicle! I think would only cost about 2000£. Just mount a 42v 1000-2000w brushless ebike motor on each side.

I think a big solution would be to connect all the shafts of each big grippy gear on the center hub, together with a flexible shaft like in the other design. This way, when two gears do not interface properly, this effect is mitigated by all the other gears that do make full contact. This of course also asks for bearings next to each gear in the central hub, so this might become a heavy wheel by itself. But I think it's worth upscaling it a bit and going all the way.

I suspect it would be a good idea to redesign this so that the contact patch is not the same surface as the drive gearing.

Pretty amazing work James. Inspiring.

I like the idea, probably you could make it lighter by only keeping traction in the lowest part of the wheel, as the rest of the wheel doesn't really work

Really nice. I wonder if you could get away with having 3 or 5 fixed small wheels at the bottom only, since you only need the big wheels that are making contact with the floor to spin.

I'm pretty sure the friction, if used day in and day out would rake havoc on the gears. I enjoy they concept development of the project

The coolness factor here broke my meter. Subscribed.

This would be a really awesome robot if paired with reaction wheels to get it balanced and standing upright.

that was much more interesting than i expected

Really nice concept.wish to see how BMW AVTR wheels works..james should make one....

if you want a flexible inealastic material torsion transfer material, try speedo cable, or the larger flexible drive cables used to power tools

I seen a video on youtube bout a bolt with two way threads.. That is to say threads, which would allow you to turn a nut clockwise or counter clockwise and still tighten it or loosen it. instead of looking more like a screw. if you used this same idea on you main drive wheels, you coold put bi-directional "teeth/threads" into the main wheels that would fit the rollers on each side better and maximize contact and grip between the rollers and the main hub.

Could you make the small wheels bevel gears, and the larger wheels cross-threading bevel gears (similar to a bolt that can take both left and right hand threaded nuts) to reduce slippage? The math would be a pain though

This is genuinely impressive!

Cool build man. I do think that the helical gear pattern will work much better. Check out the design of Torsen differential gear systems.

AMIGO , ERES EL MEJOR, TU CANAL ES UNICO,SALUDOS DESDE CALI,COLOMBIA....GRACIAS!!!

Amazing engineering minds..!! How on earth this is even balancing.. !!

Does it need to drive all the lateral wheels?only the bottom 3 or 4 need power. Right?

Could you use small outrunner motors as hub motors for each roller or use 2-4 of them connected to each other via segments of flexible drive cable?

What if you made the perimeter wheels spur gears (probably best with truncated teeth) and engaged them with a large wheel, basically a very thin slice of a large diameter worm wheel. Driving the whole assembly would move back and forth, and driving the worm gear backwards or forwards would rotate the rollers, moving side to side. Obviously not great for a dirty environment, but could be an interesting concept to play with.

Ideally you wouldnt need any rotating small wheel apart from the one that touches the ground. So I am thinking either dont drive any wheel but the bottom one at a time or maybe a fixed small wheel that always stays on the contact area and comes into effect by a levering mechanism or similar when there is sideways motion needed?

Very impressive James!

I'm just a simple guy, I discover a channel that blows my mind in the first 10 seconds of the first video and I like and subscribe immediately

The complexity is just crazy. To me it feels like a lot of excess mass and bulk when only the tiny wheels at the bottom are actually utilized at any given time. If I were trying to make a single wheel balancing robot, I'd go with a tilted wok shaped wheel. One motor drives the slightly bent axle, while the other motor drives the wheel. The key is to have a small amount of bend, so it's possible to quickly switch direction. It's possible for it to be passively stable, actually, but with a small hemisphere or ball shape it would require active stability.

@hxhdfjifzirstc894

2 жыл бұрын

You seem to know what you're talking about. What is the point of all this? What is the advantage of balancing a robot on a single wheel? Isn't four simple wheels far more cost effective and practical than some Rube Goldberg single wheel contraption? I just don't get the point.

@IsaacKuo

2 жыл бұрын

@@hxhdfjifzirstc894 It's just fun to try and engineer. There isn't really a practical point.

Tbh it’s channels like yours that keep my inspiration going to get a degree in mechanical engineering

Hydraulic tubing makes a good flexible shaft that is cost effective. I've successfully used it as a 2 foot diameter flex shaft. I assume smaller diameter tubing would work in this case.

For in-line two wheel vehicles you actually do have to turn left before you can turn right. This is so counter intuitive most people will fail to grasp it until presented with a physical experiment. For an omniwheel bike this would require you to slip to the left before executing the right turn. You would then have to reverse the procedure to come out of the turn. The required angle of slip can be calculated by balancing the centripetal force for a given radius of turn with the downward force of gravity such that the resulting vector is through the centre of mass to the wheels.

I invented something similar back in the 90s. It's purpose was to create a robot for robot wars that addressed the number one problem, the control and feedback system. I called it Drive By Wire and you can see something similar in your one wheel robot and stabilised gun mounts in Main Battle Tanks. Yours looks better though, can I use it?

Fantastic, as always!

Great video! And where did you get that Bender head??!

This is very interesting and I’m glad that you made it, but couldn’t you accomplish all of this just with two wheels each with its own motor? Kind of like how a tank works? Such that if both wheels are going the same direction you move forward, but if you control the speed of the two side-by-side wheels it could turn or have a semi directional thrust? I’m sure there are some problems with this as well, but it seems like a simpler thing to work out and probably more efficient at getting power to motion.

This is such high quality stuff!

How many sponsors can you have per video? James: "Yes"

I think that you should put bevel gears at the ends of the rollers to show turn one, turn all. And then put the motor and gearing inside one roller.

intersect subtractive cuts on the center where the rollers touch. Then you would perfect gearing between the angled rollers and the center rollers, but maintain tread on the center. As if you had a crosshatch pattern so that 2 separate angles of gear teeth coexist.

I cannot believe I live in a time where this kind of bizarrely niche and amazing information is freely available to anyone..... There is hope for humanity.

The terrifying speed of digrodation. Two hundred years ago , two-wheeled cars were made, railway cars on one rail. Not on the rail that occupies 2.3 of the width of the train itself, but a simple rail. And all this on a gyroscope. But then everyone forgot about it, and the technology went into stabilizers for ship guns.

For this current demo, would a design like a screw that goes both ways work for your central wheel? It would be less binding and always have a point 'flat' against the gear as it pushed on it I'd think. Would be less binding and allow you to tighten up the design a bit ya?

I have absolutely no idea what is going on for 90% of the vid but i am entertained.

Subscribed! So happy KZread brought you to my attention.

That's actually insane. I had the same idea written down. Great minds must think alike!

Dude, seriously. How come you are not working for space X, tesla, boston dynamics or related. This is the kind of smart people who has to drive our future!! Good work man!!

Nice project, congrats

That was really good, I can already see R2-D2. Talking about Star Wars, I'd really like to see a functional BD droid.