9 Mecanum Wheels
Mecanum Wheel consists of a series of rollers obliquely attached to the circumference of the wheel rim. When Mecanum wheel spins, the propelling force is generated only in the direction of the roller axis. Thus, by commanding the wheels to spin in various combinations of directions, the vehicle can move omnidirectionally and in any direction at any time. With Mecanum wheels, you can maneuver reliably, even with heavy loads. Such kinematic characteristics makes Mecanum wheel a popular element for automated guided vehicles (AGVs) and autonomous mobile robots (AMRs).