The movement mechanism of the advanced robots I had seen before caught my attention and I did some research. The name of this structure, which provides more dynamic and easier movement to the robots, was the "Mecanum Wheel".

Although conventional wheels are quite simple in design, have a high load capacity and are tolerant of irregularities in the working surface, their noholomic nature does not fully allow them to work in versatility.

Conversely, for a normal force in the "Mecanum Wheel" direction, angled peripheral cylinders translate some of the force in the direction of the wheel's rotation. Depending on the direction and speed of each individual wheel, the combination of all the resulting forces creates a total force in the desired direction. Thus, it is ensured that the robot moves freely in the desired direction without the need for the wheels to change their direction. In addition, the opposite movement of the rollers provides lateral movement to the robot.

Below is my Mecanum Wheel design that provides these advantages. I designed this model using SolidWork Connected

Edu ​​​​​​​3DEXPERIENCE SOLIDWORKS ​​​​​​​