This paper discusses the mechanical design and simulation of a novel omnidirectional wheel based on Reuleaux-triangles. The main feature of our omniwheel is that the point of contact of the wheel with the floor is always kept at the same distance from the center of rotation by mechanical means. This produces smooth translational movement on a flat surface, even when the profile of the complete wheel assembly has gaps between the passive rollers. The grip of the wheel with the floor is also improved. The design described in this paper is ideal for hard surfaces, and can be scaled to fit small or large vehicles. This is the first design for an omnidirectional wheel without circular profile, yet capable of rolling smoothly on a hard surface.
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