Panther WH03 - wheel swap
Overview
Panther v1.0 to v1.2 platform can be configured with option WH03 (read more about available Panther options), which enables quick swap between off-road and mecanum wheels. Follow instruction below to learn how to do it.
Regular off-road wheels
Aggressive off-road tire tread provides excellent grip both on asphalt and in muddy terrain. The control of the platform is based on a differential drive, the robot has 2 DoF of freedom on the surface. Pneumatic tires provide a gentle cushioning of the platform on uneven terrain and eliminate vibrations.
Mecanum omnidirectional wheels
Thanks to the freely rotating rollers around the wheels, the robot can move sideways, forward and backward and spin, all with minimal power consumption. The control of the robot is done by combining the rotational motion of all wheels and allows the platform to move in 3 DoF on the surface. Wheels work best on level surfaces.
Not following steps below may cause mechanical damage to Panther, which will not be covered by warranty.
- Panther v1.2
- Panther v1.0 - v1.06
In the latest version of Panther, a system of interchangeable wheels has been developed to ensure more efficient handling of the robot. The wheel unit, which consists of a stationary hub with a drive shaft and the actual wheel, is mounted to the robot at the threaded connection of the hub and the Panther body. To change the type of wheels, simply remove the hub with one type of wheels from the base of the robot and replace it with a set with a different type.
Unmounting
In the case of changing the type of wheels, it is not required to disassemble this set into parts, but to remove it entirely from the body of the platform. For this purpose, use a 60 mm diameter hook spanner and unscrew the hub. The hub has 3 holes with a diameter of 6 mm.
When turning the wrench, make sure any part of the wrench does not hit any of the bolts protruding from the side of the robot.
All hubs have a right-hand thread, so turn it counterclockwise to unscrew it. The diameter of the thread used is 55 mm, so approximately 100 Nm of torque should be used to loosen the connection.
It can be an inertial moment, just make sure that the key is properly seated in the hole, as its incorrect seating can significantly damage the key socket.
The images below show the platform with the wheels on and the highlighted hubs. Use tab labels to switch between views.
- WH01
- WH02
Regular off-road wheels


Mecanum omnidirectional wheels


Mounting
The shaft on the robot side is tipped with claws. When screwing the hub, the shaft must be properly positioned so that the claws fit in the slots. This can be done in the following steps:
- Apply grease to the O-ring to improve the tightness of the connection and the thread to prevent galling and seizing.
- Screw the hub until it stops, when the teeth of the shaft rest against the teeth of the gearbox shaft.
- Apply a constant tightening torque to the hub of approximately 2 Nm.
- Turn the shaft (actually a wheel) until the teeth of the wheel "fall" into the slots, which will result in a non-resistance play in the rotation of the wheel.
- Continue to tighten the hub with a slight torque. If the torque increases, it means that the fangs of the shaft have not hit the slots and the operations from the previous points must be repeated.
- The hub will run out of thread after a few turns. It must be tightened with a torque of 80-100 Nm.
Wheels are distinguished on the right and left. They can be distinguished by the shape of the tread or the arrangement of the rollers. The picture below shows the correct attachment of the wheels on the robot in top views.


Software
After changing the wheels on the robot, you must run the properly modified docker compose file. To do this, follow the steps described below:
- Login via SSH into Built-in Computer. Open terminal and execute
ssh husarion@10.15.20.2
with passwordhusarion
. - Edit compose file
nano compose.yaml
- Add
wheel_type
to panther_ros container command:
command: >
roslaunch --wait
panther_bringup bringup.launch
wheel_type:=WH02
Replace WH02
with WH01
depending on the wheels used.
- Restart docker:
docker compose up -d --force-recreate
First assembly of the mecanum wheels
- Loosen the set screws in the wheels (2x M4 + 2x M8).
- Make sure the shafts have prismatic keys inserted.
- Slide the mecanum wheels onto the hub shafts. Make sure that the shaft have entered the wheel so far that the end of the shaft is flush with the side surface of the wheel.
- Tighten the M8 screws to 15 Nm, then the M4 screws to 4 Nm.
Change from standard off-road wheel to mecanum wheel
Mechanical
Description | Illustration |
---|---|
1. Remove 5x DIN 912 M6x12 bolts (5mm allen key) holding wheel assembly. Slide wheel assembly of the shaft. | ![]() |
2. Unscrew M8 set screw and loosen 2x DIN 912 M6x20 bolts of the wheel hub. | ![]() |
3. Slide wheel hub from the shaft. | |
4. Install outer 5x5x25mm parallel key to the shaft. It might be necessary to lightly tap it into position with hammer. | ![]() |
5. Remove 2x M8 set screw (4mm allen key) and 2x M4 set screw (2mm allen key) from mecanum wheel. They are located on hub of mecanum wheel. | ![]() |
6. Slide mecanum wheel onto the shaft. Exterior of mecanum wheel should be flush with end of the shaft. Correct orientation of each mecanum wheel is shown below. | ![]() |
7. Install and tighten 2x M8 set screw with 5Nm torque. Slight misalignment of the mecanum wheel will be eliminated. | |
8. Install and tighten 2x M4 set screw with 2Nm of torque. | |
9. Repeat above steps for all axels. |
Software
- Power on Panther.
- Connect to Panther network.
- Login via SSH into internal computer. Open terminal and execute
ssh husarion@10.15.20.2
with passwordhusarion
- Open launch file for panther_driver:
nano husarion_ws/src/panther_driver/launch/driver.launch
- Change default value of an argument
wheel
(line 6) fromoffroad
tomecanum
- Save and exit by pressing CTRL + X then Y
- Restart Raspberry to apply changes by command
reboot
Change from mecanum wheel to standard off-road wheel
Mechanical
Description | Illustration |
---|---|
1. Unscrew 2x M8 set screw (4mm allen key) and 2x M4 set screw (2mm allen key) from mecanum wheel. They are located on hub of mecanum wheel. | ![]() |
2. Slide mecanum wheel of the shaft. | |
3. Remove outer 5x5x25mm parallel key from the shaft. Use of pliers might be required. | ![]() |
4. Take wheel hub and loosen 2x DIN 912 M6x20 bolts (5mm allen key) and remove M8 set screw. | ![]() |
5. Slide wheel hub on the shaft aligning it with parallel key as far as it will go, as shown on the cross-section below. | ![]() |
6. Hand tighten 2x DIN 912 M6x20 bolts keeping equal spacing between clamp and main hub body on both sides. | |
7. Install and hand tighten M8 set-screw. | |
8. Tighten 2x DIN 912 M6x20 using 8Nm. | |
9. Tighten M8 set-screw using 5Nm. | |
10. Slide wheel assembly (with tire valve facing outwards and wheel threads facing forward) and secure it by 5x DIN 912 M6x12 bolts. Torque it to 6Nm. | ![]() |
11. Repeat above steps for all axels. |
Software
- Power on Panther.
- Connect to Panther network.
- Login via SSH into internal computer. Open terminal and execute
ssh husarion@10.15.20.2
with passwordhusarion
- Open launch file for panther_driver:
nano husarion_ws/src/panther_driver/launch/driver.launch
- Change default value of an argument
wheel
(line 6) frommecanum
tooffroad
- Save and exit by pressing CTRL + X then Y
- Restart Raspberry to apply changes by command
reboot