Posted 09 September 2026

While upgrading my 4-wheel autonomous wall-following robot to add vision enhancement, Wall-E managed to dive off my bench onto the floor – twice! No major damage except to my ego, but one wheel did get dinged up to the point where it needed to be replaced.

The original wheels were designed in OSCad many years ago, so the print files were no longer available. I designed a replacement wheel using my new best friend OnShape, as shown in the screenshot below:

After getting the design dialed in (version 6), I printed out the remaining three wheels and transferred the tires from the old wheels to the new ones. Since the tires were already red, I chose to print the wheels in gray PETG to produce an Ohio State University themed robot ;). Here’s a short video showing off the new wheels: