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ROSbot 2.0 & ROSbot 2.0 PRO wheel swap

Overview​

ROSbot is a 4x4 drive autonomous mobile robot platform powered by ROS what allows to extend the standard set of pneumatic rubber wheels to the set of multi-directional mecanum wheels.

Mecanum and regular wheels

Change from standard wheels to mecanum wheels​

  1. Remove M4x8 bolts (2.5mm allen key) holding each wheel. Slide wheel of the coupler. Remove 4x M4x8 bolts

  2. Remove M3x4 bolts (2.5mm allen key) holding each coupler. Slide coupler of the shaft. Remove 4x M3x4 bolts

  3. Make sure the position of the flat part of the shaft, as on this surface screws must be tightened in next step. Flat part of the shaft

  4. Place on the shafts short couplers intended for mecanum wheels. They are 18 mm long and are fastened with two M3x4 screws each. Tighten the bolts with a torque of 1Nm (2.5mm allen key). New short couplers

  5. Place the mecanum wheels on correctly fitted couplers. The order in which the wheels are placed is extremely important, as there are left-handed and right-handed wheels. Their correct placement is shown in the image below. Mecanum wheels correct placement

  6. Screw the mecanum wheels to the couplings using M4x20 screws with a flat head (2.5mm allen key). Tighten the bolts with a torque of 1.5Nm. Mecanum wheels are ready!

Change from mecanum wheels to standard wheels​

  1. Remove M4x20 bolt (2.5mm allen key) holding each mecanum wheel. Slide wheel of the coupler. Remove 4x M4x20 bolts

  2. Remove M3x4 bolts (2.5mm allen key) holding each coupler. Slide couplers of the shaft. Remove 8x M3x4 bolts

  3. Make sure the position of the flat part of the shaft, as on this surface screws must be tightened in next step. Flat part of the shaft

  4. Place on the shafts long couplers intended for regular wheels. They are 30 mm long and are fastened with one M3x4 screws each. Tighten the bolts with a torque of 1Nm (2.5mm allen key). New long couplers

  5. Place the regular wheels on correctly fitted couplers. Screw the wheels to the couplers using M4x8 screws with a flat head (2.5mm allen key). Tighten the bolts with a torque of 1.5Nm. Standard wheels are ready!