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1 A caster is a wheel mounted to a fork, with an optional, additional offset steering joint. 2  An omni-directional wheel (Mecanum wheel, Omni wheel, or Swedish wheel) is made of a large central hub with many additional smaller wheels mounted along the perimeter such that their axes are perpendicular to the central wheel.
The steering axis (the red dotted line in the diagram above) does not have to pass through the center of the wheel, so the caster can be set independently of the mechanical trail, which is the distance between where the steering axis hits the ground, in side view, and the point directly below the axle.