Lego Mindstorms NXT Holonomic Drive – Killough Platform – Rev 2

I updated my Lego NXT holonomic platform a bit. The main changes revolved around the orientation of the motors so I could get true 360 degree movement.


As you can see the motors now orient in a circle around the robot.


I tried two different mounts of the motors. A high mount, that gave good ground clearance but had less stability and a low mount, that was more stable, but required all tires/feet to be on the outside of the robot. The video below shows the differences.


Here is an example of a lower motor mount with the feet on the outside.


Another shot of the motor mounting and the feet.


I also added some cross bracing for the motors to my original triangle platform base.


Here is the video:

High-res photos are available in my Lego Mindstorms NXT Picture Gallery.

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11 Responses

  1. Robolab 2.9 says:

    Nice, you have REALLY improved you old one.

    Does the vibrating give you less accurate results though?

    Robolab 2.9

  2. Rich says:

    The vibrating does make navigation harder, but it reduces friction as the robot moves about so it is a bit of a trade off.

  3. TechFresh says:

    Is it faster than a regular monitor?

  4. evan says:

    could I have instructions for this holonomic nxt robot?my email is thanks!

  5. Troy Ostrander says:

    Very nice work! Could I have instructions and program for this holonomic nxt robot? My email is Best, Troy

  6. Maximillian Züll says:

    Very nice. I buildt a holonomic platform too, but I don’t know how to program it. May you mail me the program? My email is My respect.

  7. Focus says:

    wow, wonderful! Could I have instructions and program for this holonomic nxt robot? My email is
    Thank you very much!

  8. RCHS Robotics says:

    That’s awesome! I have a 4 motor holonomic platform built, but I have no idea how to program it. Could you help me by sending a sample program? My email is


  9. jesus carpio says:

    building instructions please!!

  10. Jan Cuevas says:

    Building instructions please

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