Nomad Omniwheel Robot

Nomad is an omniwheel robotics development platform. In it's current state it is setup to mount six ultrasonic sensors, three PIR sensors and up to three Raspberry Pi sized cameras. It's driven by three Nema 17 stepper motors and uses many components commonly found on 3D printers so they should all be easy to source. The panels on the head and side can be hinged and animated with servos for easy maintenance access, deploying sensors or just entertainment value. There is plenty of room inside for a Raspberry Pi, Arduino Mega, etc and a 1500mAh Lipo or similar. The head is mounted on a MG996R sized servo. A parts list is included and listed roughly in the order of assembly, extra photos are included as well. An assembly guide is still in the works. This is a mechanical test bed at this point and no software or other code is yet available.

The parts list is also available here - https://docs.google.com/spreadsheets/d/1_x0aae_PZqqlg_YjK7cR7ynE8d3D_o9AaacGClNoP9Y/edit?usp=sharing

Various custom greebles are included but it looks great with a few astromech additions as well.

The FreeCAD source is included though it needs to be cleaned up, this project was my incentive to learn FreeCAD so I wasn't always using best practices.

Category: Robotics