Technological University (Mandalay)

Department of Mechatronics Engineering

Mecanum Wheels Robot

Supervised by; Presented by;

Dr. Theint Theint Htwe Mg Sao Khon Hein Thu
Professor 6BE MC-24
Outlines of Presentation
Abstract
Introduction
Aim and Objectives
Literature Review
Problem Statement
System Block Diagram
Hardware & Software Requirements
System Operation
Method
Future Plan
References
Abstract
Mobile robots equipped with four Mecanum wheels have the
omnidirectional property, which means, they have the ability to move
instantaneously in any direction ,from any configuration.
compared to conventional platforms, these vehicles possess multiple
advantages in terms of their mobility in narrow spaces or crowded
environments. 
Mecanum wheel is based on the principle of a central wheel with a
number of rollers placed at an angle around the periphery of the wheel.
Introduction
Mecanum Wheels Robot is capable of moving in any
direction.
This unique mobility of the robot is achieved by using
special type of wheels, called Mecanum Wheels.
Mecanum wheel is designed by Swedish Inventor Bengt
Ilon, an engineer from a Swedish company named Mecanum
AB. 
This wheel is a conventional wheel but mounted with a
series of small rollers around its circumference. This small
rollers is mounted along the wheel rim with a shifted of 45°
angle to the wheel plate.
Robot Design
Project Aim and Objective
To move every degree of freedom independently.
To travel in any direction under any orientation and to
crab sideways, turn on the spot and follow
complex trajectories.
Using four of these wheels provides omnidirectional
movement for a vehicle without needing a conventional
steering system.
Literature Review
The Mecanum Wheel was invented in 1973 by an engineer
named Bengt Ilon. Back in the days the US Navy bought this
patent and had developed this particular wheel in Panama
City. The Mecanum Wheel was mainly used by the Navy to
transport loads on their ships. Vehicles which are equipped
with those wheel are able to drive omnidirectional
maneuvers. Omniroll implemented this fascinated technology
in a wheelchair and created the Omnichair.
Problem Statement
People weren't able to transport objects by using robot
vehicles in conjested environments. By using Mecanum
wheels robot platforms, we can have vast advantages over a
conventional design in terms of mobility.
They are capable of easily performing tasks in environments
congested with static and dynamic obstacles and narrow
spaces. These environments are commonly found in factory
workshops, warehouses, hospitals and elderly care facilities.
 Android DRV8825 Stepper
Stepper Motor NEMA 17
Application Driver

DRV8825 Stepper
Stepper Motor NEMA 17
HC-05 Driver
Blutooth Arduino Mega 2560
Module DRV8825 Stepper
Stepper Motor NEMA 17
Driver
3S LiPo
Battery 35C DRV8825 Stepper
11.1V Stepper Motor NEMA 17
Driver
3500mAh

Block Diagram
Hardware & Software Requirements
4 x Stepper Motors – NEMA 17
4 x DRV8825 Stepper Drivers
Android Application
HC-05 Bluetooth Module
3S Li-Po Battery 11.1V – 3500mAh
Arduino Mega Board
System Operation

 If all four wheels move forward, the resulting move of the robot will be forward, and vice versa if
all wheels move backward the robot will move backward.
 For moving to the right, the right wheels need rotate inside the robot, while the left wheels need
rotate outside the robot. The same but opposite happens when moving to the left.
 With these wheels we can also achieve movement in diagonal direction by rotating only two
wheels. 
 We will design and 3D print our own ones.
 The wheels are made out of two parts, outer and inner side which are secured together
with some M4 bolts and nuts. The length of the bolts needs to be 45mm.
 The wheels have 10 rollers each.
 We will use 3mm tick steel wire for the shafts of the rollers. The length of the shafts
needs to be around 40mm.
 A shaft coupler specifically designed to fit a NEMA 17 stepper motor.
 To attach the wheels to the motor’s shafts, the shaft coupler have a slot for inserting an
M3 nut through which an M3 bolts can pass through.
Method
Arduino controller is used to control the direction and speed
of four stepper motors.
Using the Arduino Mega 2560 board connected to the motor
drivers.
Future Plan
In coming the next seminar, parts of hardware will be shown.
The circuit diagram and flow chart will be included in the
next seminar.
To design and build the prototype of the mecanum wheels
robot.
References
https://howtomechatronics.com/projects/arduino-mecanum-wheels-robot/
[Boreinstein , J., Everett, H.R., Feng, L., 1996],Navigating Mobile Robot. AK Peters, Wellesley,Massachusetts
[Dubowsky, S., Genot, F., Godding, S., Kozono. H,Skwersky, A., Yu, H., and Yu, L, 2000], “PAMM -A Robotic
Aid to the Elderly for Mobility Assistance and Monitoring: A Helping-Hand for the
Elderly”.IEEE International Conference on Robotics and Automation
[Ilon, B.E., 1975],Wheels for a course stable selfpropelling vehicle movable in any desired direction on the
ground or some other base, US Patents and Trademarks office, Patent 3,876,255
[Killough, S.M., and Pin, F.G., 1994], “A New Family of Omnidirectional and Holonomic wheeled platforms
for mobile robots”, IEEE Transactions on Robotics and Automation, Vol.10, No.4, pp. 480-489
[Laumond, J.P., 1998],Robot Motion Planning and Control. Springer-Verlag, London.
[West, M., and Asada, H., 1997], “Design of Ball wheel Mechanisms for Omnidirectional Vehicles With Full
Mobility and Invariant Kinematics”, Journal of Mechanical Design, Vol.119, pp153-161
[Kalpakjian, S., Schmid, S.R., 2000],Manufacturing Engineering and Technology, Prentice Hall.
THANK YOU