Lego Mindstorms NXT Holonomic Drive - Killough Platform - Rev 2

Posted by Rich | Filed under Holonomic Drive, Lego, Walkers

I updated my Lego NXT holonomic platform a bit. The main changes revolved around the orientation of the motors so I could get true 360 degree movement.


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As you can see the motors now orient in a circle around the robot.


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I tried two different mounts of the motors. A high mount, that gave good ground clearance but had less stability and a low mount, that was more stable, but required all tires/feet to be on the outside of the robot. The video below shows the differences.


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Here is an example of a lower motor mount with the feet on the outside.


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Another shot of the motor mounting and the feet.


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I also added some cross bracing for the motors to my original triangle platform base.


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Here is the video:



High-res photos are available in my Lego Mindstorms NXT Picture Gallery.

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Permalink | December 24th, 2006

6 Responses to “Lego Mindstorms NXT Holonomic Drive - Killough Platform - Rev 2”

  1. Robolab 2.9 Says:
    December 31st, 2006 at 4:01 pm

    Nice, you have REALLY improved you old one.

    Does the vibrating give you less accurate results though?

    Robolab 2.9

  2. Rich Says:
    January 5th, 2007 at 11:16 am

    The vibrating does make navigation harder, but it reduces friction as the robot moves about so it is a bit of a trade off.

  3. TechFresh Says:
    May 24th, 2007 at 8:01 pm

    Is it faster than a regular monitor?

  4. evan Says:
    June 22nd, 2008 at 12:09 am

    could I have instructions for this holonomic nxt robot?my email is evan20821@gmail.com. thanks!

  5. evan Says:
    June 22nd, 2008 at 12:10 am

    sorry i meant evan20821@gmail.com

  6. Troy Ostrander Says:
    January 3rd, 2010 at 9:06 pm

    Very nice work! Could I have instructions and program for this holonomic nxt robot? My email is troyostrander@gmail.com. Best, Troy

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