Integrated Mecanum Drive (IMD)

This modification for GoBILDA mecanum wheels allows for direct-drive motor integration within the wheel assembly.

Why Build This?

Standard mecanum drives often require bulky chain, belt, or gear-driven setups inside the robot chassis. This modification integrates the motor directly into the wheel hub, offering: Maximized Internal Space: Frees up chassis space for electronics and mechanisms. Rapid Serviceability: Self-contained design allows for quick drive unit swaps, eliminating the need for main chassis disassembly. Zero Backlash: Direct-drive eliminates the slop inherent in chain/belt reductions. Fewer Points of Failure: Eliminates external belts, chains, and pulleys, reducing the overall part count and removing the need for regular tensioning.

Basic Characteristics

• Base Wheel: goBILDA GripForce™ Mecanum Ø104mm Wheel Set (40A Durometer).
• Propulsion: goBILDA 5203 Series Yellow Jacket Planetary Gear Motor (435 RPM).
• Structural Frame: Custom 3D printed motor mounts and precision shaft spacers.
• Power Transfer: Direct-drive (1:1 ratio) utilizing the heavy-duty 8mm REX™ shaft ecosystem.
• Estimated Performance: Theoretical top speed of ~2.3 m/s (with 435 RPM motor).

CAD Model & Configurable Assembly

The model was designed in Onshape. You can view, interact with, and export the configurable assembly (along with the complete BOM) directly from your browser here:

Open IMD in Onshape

Example Applications (Drivebases)

To help you integrate these modules into your robot, I have included CAD models for two example drivebases in the Drivebase_Examples folder:

1. goBILDA U-Channel Chassis: Demonstrates how to mount the modules using standard goBILDA structural components.
   View goBILDA U-Channel Chassis in Onshape
2. Custom Plate Chassis: Demonstrates how to mount the modules using custom-machined plates and standoffs for a more compact footprint. View Custom Plate Chassis in Onshape

3D Printing Recommendations

These custom parts handle the structural weight of the robot and the motor's torque, so part strength is critical.

• Recommended Setup (Tested): Nylon (PA) with 4+ perimeters/walls and 50% infill (Gyroid or Cubic).
• Alternative Materials: PETG, ABS, ASA, or Polycarbonate.
• A Note on PLA: While standard PLA is generally not recommended for competition robotics due to impact brittleness, prototype testing proved that 100% infill PLA successfully handled up to an 80kg static load without failing.

Bill of Materials (BOM)

To build one complete wheel module, you will need the following parts:

Item	Quantity	Name
1	1	104mm Mecanum Wheel (Ø104mm, 40A Durometer Rollers) 3625-0202-0104 goBILDA
2	1	1309 Series Sonic Hub (8mm REX® Bore) 1309-0016-4008 goBILDA
3	1	1401 Series 2-Side, 2-Post Clamping Mount (43mm Width, 36mm Bore) goBILDA
4	1	1611 Series Flanged Ball Bearing (8mm REX ID x 14mm OD, 5mm Thickness) 1611-0514-4008 goBILDA
5	1	5203 Series Yellow Jacket Planetary Gear Motor (13.7:1 Ratio, 24mm Length 8mm REX Shaft, 435 RPM, 3.3 - 5V Encoder) 5203-2402-0014 goBILDA
6	4	Hex nut grade A & B M4x0.7
7	4	Hex socket countersunk head screw M4x0.7 x 12
8	1	Hex socket head cap screw M4x0.70 x 14
9	4	Hex socket head cap screw M4x0.70 x 30 x 20
10	1	Motor mount 3d Printed
11	1	Shaft spacer 3d Printed
12	1	Wheel Spacer 3d Printed

Assembly instructions

Integrated Mecanum Drive (IMD) © 2026 by Gabriel Pieniek is licensed under CC BY-NC-SA 4.0. To view a copy of this license, visit https://creativecommons.org/licenses/by-nc-sa/4.0/