Due to the size of this Holonomic Platform Robot, I decided to make the instructions in two separate parts. The first part is the BASE (LargeHolonomicPlatform-Base.lxf) which has three identical WHEEL HOUSINGS (LargeHolonomicPlatform-WheelHousing.lxf) attached to it.
The BASE also houses the LEGO Mindstorms NXT Brick, and three Ultrasonic (Sonar) Sensors attached for Navigation.
The whole robot is built around a central trunk (left). This arrangement, produces 3x arms separated at 120º, from which the whole robot evolves from.
Attached to each arm part, are the arm assembly branches with a Ultrasonic (Sonar) Sensor attached (Bottom Left).
From the "ORANGE AXLES" (Part #55013 Technic, Axle 8 with Stop), the Wheel Housings are attached.
The Wheel Housing (Left) is the final component for the Robot. The Wheel Housing also includes the NXT Motor Mounting as well.
The NXT Motor is quite capable of directly driving the new 125mm (5") Rotacaters. But beware as your robot will really spring with the large Rotacaters attached. For indoor use, it may be worth your while to gear the motor drive train down. Alternatively, reduce the maximum power output to the NXT Motors to around 75%.
With a couple of modifications to the Wheel Housing (Bottom Right) you can use the standard 48mm (2") Rotacaters on this robot.
Holonomic Platforms a great fun to build and use, but this Robot takes you to the next level. These new 125mm (5") diameter Rotacaters will allow you to leave the safety of the lounge-room floor, and head off-road. With a bit of ingenuity, a Compass or GPS Sensor the great out doors can become the domain of this Holonomic Platform type Robot.
As usual, full details, code, etc, on my blog. Google: "Rotacaster Big, Bigger, Biggest!"