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Mecanum Wheel
========================


**What is Mecanum Wheel?**

.. image:: img/mecanum_wheel1.png
    :width: 400
    :align: center

The Mecanum Wheel is an omnidirectional wheel design for a land-based vehicle to move in any direction. 
It is sometimes called the Swedish wheel or Ilon wheel after its inventor.

The Mecanum Wheel is a form of tireless wheel, with a series of rubberized external rollers obliquely attached to the 
whole circumference of its rim. These rollers typically each have an axis of rotation at 45° to the wheel plane and at 45° to the axle line.

Each Mecanum wheel is an independent non-steering drive wheel with its own powertrain, and when spinning generates a propelling 
force perpendicular to the roller axle, which can be vectored into a longitudinal and a transverse component in relation to the vehicle.

The Mecanum Wheel can be divided into left-hand and right-hand wheels that are mirror images of each other, depending on the angle of 45°.

.. image:: img/mecanum_wheel.png


Mecanum Wheels are usually used in groups of four, as shown in the figure below

.. image:: img/zeus_car_wheel.png
    :width: 400
    :align: center

**Features**

* Diameter: 60mm
* Thickness: 30.62mm
* Rollers: 9pcs
* Angle: 45°
* Color: Black
* Material: plastic + rubber