Project objective:

Build Log

02-16-26:

Adding a groove to add bearing balls. lot of thinking regarding bearing ball loading mechanism Inspiring by the exposed retaining ring of a bearing. A mix of an exposed bearing ring and a caster ball.

02-14-26:

We realized that we still want the omni wheel rolling function, instead of a static ring. A return back to the wheel integration to the center drone retaining ring.

02-12-26:

designed in a way such that the beams don’t collide with the propellors at any drone orientation

Discussion between using a metal or a nylon/plastic ring. We realized that the metal ring would be way too heavy.

02-6-26:

figure out if we can use a single disc omniwheel design over the more traditional 2 disc design to save weight and reduce complexity. however, we realized that the single wheel may incur stability issues. The control problem is anagolous to actively trying to balance a unicycle. We did realize removing a DOF from the connection of the axel to the drone retaining ring would create stability, but was not ideal considering the desired configurations for the drone.

01-30-26: 1st iteration