Assembly Variant (DB21Jv3)

This section describes the differences in assembly procedure between a Duckiebot DB21J and DB21Jv3.

What you will need

• The components for a Duckiebot DB21-J4v3 (default Duckiebot on the Duckietown online store since November 2025).

What you will get

An assembled Duckiebot DB21J(v3).

Note

The DB21Jv3 is a hardware variant of the DB21J, introducing small quality of life improvements: a new omnidirectional wheel, and replacing metal screws and nuts with Nylon ones for chassis assembly.

You can continue following the main DB21J assembly instructions to assemble your Duckiebot, and only review the new omnidirectional wheel assembly instructions here.

Omnidirectional Wheel

Step 1: The Omnidirectional wheel components

Fig. 21 Disassembled omnidirectional wheel showing the base plate (right), white sphere and cover (left).

Step 2: Placing the connection screws

Fig. 22 Wheel base plate with nylon screws positioned.

Step 3: Connecting the support standoffs

Fig. 23 Connecting the support standoffs to the omnidirectional wheel base plate.

Step 4: Placing the sphere

Fig. 24 White sphere positioned in the base plate housing.

Step 5: Enclosing the omnidirectional wheel

Fig. 25 Place the cover over the spere until “it clicks”.

Step 6: Assembled omnidirectional wheel with supports

Fig. 26 Assembled omnidirectional wheel with supports.

Step 7: Position wheel over the Duckiebot’s chassis

Fig. 27 Omnidirectional wheel assembly positioning on the Duckiebot’s chassis.

Step 8: Connecting the wheel’s standoffs with the chassis

Fig. 28 Omnidirectional wheel assembly connected to the Duckiebot’s chassis.

See also

You can now continue the assembly from the main instructions, from Step 6.

Troubleshooting

Troubleshooting

SYMPTOM

I am not sure if I have a DB21Jv3

RESOLUTION

Check the omnidirectional wheel in your Duckiebox. If it is made of metal, you have a DB21J. If it is made of plastic, you have a DB21v3.