Mecanum Wheel 60 mm - 9 Diagonal Rollers

MODIFY THIS EXISTING BUILD IN PLACE; do not create an unrelated new design. Preserve the yellow radial spider plates and central hub where possible. Replace all roller and pin geometry. Coordinate system: main wheel axle is global Z through origin; wheel face is XY. Side plates are parallel/coaxial XY plates at z=-15.5..-11.5 and z=+11.5..+15.5 mm, giving exactly 31 mm outside width and 23 mm inner gap. Keep both plates mirrored and preserve their radial spider/lobed appearance. Hub stays coaxial with Z, with editable shaft bore and radial grub screw. Exactly 9 rollers at theta_i=i*40 degrees. Conventional Mecanum orientation: roller axis is diagonal, 45 degrees to global Z, NOT in XY and NOT radial. Use one handedness for all rollers. For each theta define e_r=(cos theta,sin theta,0), e_t=(-sin theta,cos theta,0), e_z=(0,0,1), and roller axis u=(e_t+e_z)/sqrt(2). Support points must land on opposite plate inner faces z=±11.5 mm, so the axis span between supports is 23/sin45=32.5269 mm and their XY positions differ tangentially by 23 mm. Calculate both pin support coordinates from this same axis line; do not place both supports at the same XY location. Put roller barrel centred between the supports, coaxial with pin, and captured by a boss/hole on each plate. All nine use the same geometry rotated by 40-degree circular pattern. Rollers must form a cylindrical rolling envelope with max OD 60 mm (radius 30), with no roller protrusion beyond that envelope. Size roller OD and pitch radius so adjacent rollers do not intersect. Use separate roller bodies and axle pins; pins coaxial with each roller and supported at both ends. Add 0.2-0.3 mm diametral rotational clearance and small end clearance. No fusing moving parts. Keep overall width 31 mm. Expose editable parameters: roller_count=9, wheel_OD=60, total_width=31, plate_thickness=4, roller_angle=45, roller_diameter, pin_diameter, shaft_bore and FDM clearance. Return separate named solids for both plates, hub, 9 rollers and 9 pins. Run actual collision/interference checks for adjacent rollers, rollers vs plates, pins vs rollers, and hub/plates. Verify bounding box 60x60x31 mm within small tolerance. If the geometry cannot satisfy all constraints, report exact conflict and do not claim validation. Keep the result associated with the original project/build.

Parameters

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