Omni Wheels“All four of them

seemed to be made the same, as though there were a wheel within a

wheel. When they moved, they went in any one of their four directions without

veering as they moved”

Ezekiel 9:10-11

Omni Wheel 16 x 11”

Omni Wheel 16 x 11” Soft 2” diameter, Self-lube bearing, 7/8 tread,wt cap 75#,1/4 axel, 63/64 hub,.1# wt,$1.66 per wheel

Omni Wheel Solid 16 x 12” 2” diameter, plain bearing, 13/16 tread,wt cap 90#,1/4 axel,1 5/16 hub, $1.13 per wheel

Omni-Wheel 16 Fillet 3” Hub(Weitht: 1.25*2 + 1.6 + .3*2=4.8#)

Omni-Wheel 16 Fillet 2” Hub(Weitht: 1.25*2 + 1.6 + .126*2=4.35#)

Omni-Wheel 16 Fillet Holey 2” Hub(Weight: .9*2 + 1.6 + .126*2=3.65#)

Omni-Wheel 16 Fillet Holey 2” Hub(Weight: .85*2 + 1.6 + .126*2=3.55#)

Omni-Wheel 16 Fillet Spokes 2” Hub(Weight: .821*2 + 1.6 + .126*2=3.5#)

Omni Wheel 8 x 7.25” Pairs

Omni-Wheel 8 Fillet Holes 2” Hubs(Weight: 4*.288 +1.6 + 2*.122=3#)

Omni-Wheel 8 Fillet 3” Hubs(Weight: 4*.338 +1.6 + 2*.317=3.6#)

Omni-Wheel 8 Fillet 2” Hubs(Weight: 4*.338 +1.6 + 2*.122=3.2#)

Omni-Wheel 8 Fillet 2” Hubs(Weight: 4*.338 +1.6 + 2*.122=3.2#)

Wide Omni-Pairs: 8”

Wide Pairs: 6”

Roller Blade Spirals

Roller Blade Cross Pair

Omni-Shell

Telescoping Booms:

• Ladders or tubes with nylon bearings• Roped or cables • Two, three, and four stages• Ropes in parallel or series• Pneumatics (cascading 2’ pistons)

• Threaded rod.

Telescoping Booms

Miscellaneous

• Bearings

• Stops

• Needs to move both up and down

• How do we measure position?