Hi,
Yesterday I published building instructions for a single leg of my holonomic robot Agilis. Here are the full instructions. These include the central frame and three sensor docks. Have fun with it.
Download the Building instructions
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NXT time 
Hi, I’m struggling to try and identify one of the parts for the build – at the top of the second column there is a grey part that looks like a “connector peg” but with one side half-size the other. It’s the part that you put into the black fork (about halfway down the same second column). Do you have a part number or name for this part please?
I found it (or something very similar!)… It’s a “1 1/2 M Connecting Bush”, element ID 4211050 (for the dk st grey).
There is an inconsistency between pages 11 and 12. The 4-axle on page 12 is placed through a hole already occupied by a pin as shown on page 11. This is fairly easy to understand as you have left the corresponding hole on the other side of the fork empty.
And on page 18 you couldn’t flip the assembly around (as on page 19) to show where the 7-axle is inserted? Easy to figure out, I know, but easy for the illustration too, right?
waiting for my wheels now . . . . . .
Hi, looks like fun … Please could you help identity the part on page 18 – the wheel. I’ve looked through bricklink but cannot identity it.
Thanks,
These are holonomic wheels from Rotacaster. You can also get them from Hitechnic.