Parametric Lego Mindstorms Omniwheel (iteration 2) The OmniwheelSolid can be printed without any support structures. Needed Parts: Also added are the files with name containing the word "_printable". These files have been slightly modified so that my 3D printer prints them more accurately. remark: The current model is fully printed in ABS. It might be better to print the barrels in Ninjaflex or perhaps paint the ABS barrels with rubber paint to avoid slipping of the wheels. Improvements compared to previous design: https://www.thingiverse.com/thing:602337 The omniwheels in action: http://www.youtube.com/watch?v=9vQ3zvjawTM&feature=youtu.be For an alternative version (82 mm wheels) of this design see: http://www.thingiverse.com/thing:1187412