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Building a Miniaturized Omnidirectional Treadmill with LEGO

• 0:00:01 Initial Problem: The original prototype treadmill required a large platform to avoid slipping between the large rotating discs. Smaller objects would get stuck.

• 0:00:31 Solution: Use many smaller discs for more points of contact, creating a smoother, cohesive surface.

• 0:00:48 Design Goal: To use the smallest possible tilting discs within the LEGO system, specifically 1x1 tiles.

• 0:01:12 Two Major Challenges:

  1. Design a mechanism to control the tilt direction of all discs simultaneously.
  2. Power every single disc, ensuring they all rotate in the same direction.

• 0:01:47 Net Piece Solution: A commenter's suggestion to use a LEGO net piece proved brilliant. The crisscrossed ropes fit between the discs, guiding their tilt.

• 0:02:15 Scale Limitation: The net piece has a 10x10 grid, which sets the treadmill's initial size.

• 0:02:33 Powering Challenge, initial ideas: Powering every axle in the 10x10 grid (later determined to be 9x9) so that all axles rotated in the same direction presented a significant hurdle.

• 0:02:57 Initial Gear Grid Attempt: A simple grid of gears (using idler gears) only allowed half the axles to rotate correctly.

• 0:04:04 Two-Layer Gear Idea: A two-layer gear system was considered but required a non-existent gear piece.

• 0:04:49 Belts and Chains Exploration: Both LEGO and non-LEGO rubber bands, and chains were explored.

• 0:05:46 Non-Lego Rubber Bands Discovery: Tiny, non-LEGO rubber bands were found to fit well and provide good grip, but friction was still too high for a full-grid application.

• 0:07:25 Hybrid Gear and Belt Approach: A combination of gears and belts was attempted, using belts to drive axles not powered by the main gear grid. This also resulted in excessive friction.

• 0:08:33 Chains Revisited: Chains were reconsidered, but the 8-tooth gears were incompatible with the chain links, and larger gears were too bulky.

• 0:09:56 Segmented Grid Solution: The breakthrough idea was to divide the grid into 3x3 chunks, designing a mechanism to power all axles within a single chunk, then replicating the chunks.

• 0:10:35 Final Chunk Design: A 3x3 chunk design was finalized, using a cross-shaped gear arrangement, C-shaped gear lines for corners, and 12-tooth gears with a universal joint to connect them.

• 0:12:42 Tiny Rubber Bands' Crucial Role: The small, non-LEGO rubber bands were used to correctly power the central axle of each chunk.

• 0:12:55 Checkerboard Assembly: The 3x3 chunks were assembled in a checkerboard pattern to avoid gear interference.

• 0:13:50 Gear Trains and Motors: Gear trains and motors were added to drive the central axles of each chunk.

• 0:14:18 Net Movement Mechanism: A frame and joystick mechanism were built to control the net's movement, tilting the discs.

• 0:14:55 Joystick-Movement Decoupling: The joystick's movement was cleverly decoupled from the net's movement, making the platform's direction intuitive to the joystick's direction (90-degree shift correction).

• 0:15:44 Final Assembly: The tiny tilting disc assemblies were connected to each axle.

• 0:17:44 Conclusion, further testing planned.