Abstract: Based on the analysis on omnidirectional wheel with dual-crown with open structure and the differential omnidirectional wheel with closed structure, a differential omnidirectional wheel using PU (Polyurethane) is developed. And to ensure its motion stability, the kinematic error and the impact from ground on the omnidirectional wheel during its alternating movement are thoroughly studied. The finite element analysis software is adopted in the strength analysis on the omnidirectional wheel, and results show that the strength of the proposed wheel is improved, and it is of better load carrying capacity.