The hardest stretch of this build is the wheel assembly, and the maker handles it with patience. Each hub holds five roller units around its perimeter, and every roller needs ball bearings pressed in by hand, bushings pushed into the roller ends, and pin axles secured with a hex screwdriver. The TPU rollers come off the printer stringy, and a heat gun cleans those surfaces up, while a rubber mallet seats each bearing flush in its bracket. Fifteen rollers in all, done one by one.
The drivetrain is three GIM6010-8 brushless actuators, Quasi-Direct Drive motors communicating over CAN, mounted symmetrically on a triangular frame, fastened to printed arm brackets with socket head screws. A Raspberry Pi 5 with 8GB, an aluminum heatsink and a cooling fan controls the robot, seated on brass standoffs in the chassis upper plate, and a CAN Hat is assembled as part of the build. Power comes from a mount for a standard Bosch 18V pack, spade terminals clamped under a printed bar, and a board labeled dianome R2 acts as a precharge circuit that prevents spikes when the downstream capacitance charges. The emergency stop was checked: about 20.10 volts at the terminals before the push-twist button was pressed, roughly 0.40 volts after.
The sensor head stands out: an InfiRay thermal camera module held by an internal retaining bracket, a Raspberry Pi Camera Module 3, and a LIDAR and IMU sharing a frame. There is a battery voltage meter on board too, and the antenna bracket is a two-piece printed part closed with four small screws. Printed parts are mostly TPU and PETG from a Bambu Lab 3D printer.
The finished robot, with red omni wheels on a black body, drives on a concrete floor in the testing stage. Two things worth noting: the camera ribbon cable was installed backwards during assembly, and double-checking that connector seems wise. The omni-wheel design comes from another designer who is credited, a gesture that seems right to me.
Project by Vincent Nguyen. Watch it on their YouTube channel: