Changes for page A4WD3 Mecanum
Last modified by Eric Nantel on 2023/11/03 07:05
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... ... @@ -1,6 +1,6 @@ 1 - {{lightbox image="A4WD3-ME-KT.PNG"width="350"/}}1 +[[image:A4WD3-ME-KT.PNG||width="350"]] 2 2 3 -[[[[image:lynxmotion-wiki-attachments.WebHome@ ComingSoon.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com||rel="noopener noreferrer" target="_blank"]]3 +[[[[image:lynxmotion-wiki-attachments.WebHome@BuyOnline.jpg||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-a4wd3-rugged-mecanum-rover-kit.html||rel="noopener noreferrer" target="_blank"]] 4 4 5 5 **Table of Contents** 6 6 ... ... @@ -14,7 +14,7 @@ 14 14 15 15 The machined aluminum frame integrates rotary seals around each motor shaft, and solid rubber cord between the frame and all panel openings, making it dust and water resistant. A large marine inspection hatch on the top panel provides easy access to internal parts as well as being able to quickly swap or recharge batteries. Aside from the internal electronics mounting plate, the platform is symmetric and can be inverted. 16 16 17 -The rover includes four powerful 12V DC motors coupled to 27:1 all metal planetary gears. The rear shaft of each motor is equipped with a magnetic encoder which provides 12 pulses per revolution (PPR). These motors provide 4WD and allow the 4WD variation to reach a top speed of around 3m/s (120”/s) without payload. Unlike the 4WD and tracked variations of the A4WD3, the Mecanum rover requires two dual channel motor controllers.17 +The rover includes four powerful 12V DC motors coupled to 51:1 all metal planetary gears. The rear shaft of each motor is equipped with a magnetic encoder which provides 12 pulses per revolution (PPR). These motors provide 4WD and allow the 4WD variation to reach a top speed of around 3m/s (120”/s) without payload. Unlike the 4WD and tracked variations of the A4WD3, the Mecanum rover requires two dual channel motor controllers. 18 18 19 19 Front and rear access panels are made of G10 composite and are intended to allow users to machine openings to add their own components, which may include a wired tether for power and control, LED or LCD feedback, a handle, or whatever else their application may need. Included are a pair of transparent polycarbonate panels which allow for an internally mounted camera and/or or LED lights for increased visibility. Additional panels are available separately. 20 20 ... ... @@ -28,71 +28,77 @@ 28 28 29 29 = Specifications = 30 30 31 -* Water and dust resistant frame 32 -* 12V, 27:1 planetary gear motors with metal gears 33 -* 8mm diameter, D-shaped motor shaft 34 -* Rear shaft magnetic encoder: 5V square wave AB 90 deg, 12 PPR, 800kHz 35 -* Frame length (external): 36 -* Frame width (external): 37 -* Frame height (external): 38 -* Weight: ~_~__ lbs / ~_~_~_~_ Kg 31 +**A4WD3 Mecanum** 39 39 40 -= Quickstart Guide / Assembly = 33 +* Max speed: ~~1.4m/s (55in/s) 34 +* Weight: 5.55kg (12.23lbs) 35 +* Rating: Water and dust resistant 36 +* Chassis: Aluminum frame & G10 (fiberglass) Pannels 37 +* Wheels: 152mm diameter mecanum wheels, rubber rollers 41 41 42 - {{include context="NEW" reference="rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.WebHome"/}}39 +**Motors** 43 43 41 +* Output Shaft: D-Shape 8mm 42 +* Operating Voltage: 12VDC 43 +* Gears: Metal planetary gear 44 +* Unload Speed: 170RPM (±10%) 45 +* Loaded Speed: 145RPM (±10%) 46 +* Torque: 11.5kg.cm (9.98lb.in) 47 +* Gear Ratio: 51:1 48 +* Current: ≤3A 49 + 50 +**Encoder** 51 + 52 +* Operating Voltage: 5V 53 +* Signal: Square wave AB 90 deg, 54 +* Pulse: 12 PPR 55 +* Frequency: 800kHz 56 + 44 44 = Dimensions = 45 45 46 -{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-mecanum/WebHome/ROVER-A4WD3-MECANUM-Dimensions.png" height="400"/}} 59 +* Length: 372mm / 14.646" 60 +* Width: 374.5mm / 14.774" 61 +* Height: 152mm / 5.984" 62 +* Ground clearance: 38.5mm / 1.516" 47 47 48 - = What'sIncluded =64 +{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-mecanum/WebHome/ROVER-A4WD3-MECANUM-Dimensions.png" height="400"/}} 49 49 50 -(% style="max-width:750px" %) 51 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-wheels.WebHome]]** 52 -|(% style="width:125px" %)2x A4WD3-W-ME-A|(% style="width:125px" %)2x A4WD3-W-ME-B|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) 53 -|Mecanum A|Mecanum B| | | | 54 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-wheels/WebHome/A4WD3-W-ME-A.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-wheels/WebHome/A4WD3-W-ME-B.PNG"/}}| | | | 66 += User Guide = 55 55 56 -(% style="max-width:750px" %) 57 -|(% colspan="6" style="width:125px" %)**[[A4WD3 Parts>>doc:rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.a4wd3-parts.WebHome]]** 58 -|(% style="width:125px" %)2x - A4WD3-FP|(% style="width:125px" %)2x A4WD3-SP|(% style="width:125px" %)1x A4WD3-TP|(% style="width:125px" %)1x A4WD3-BP|(% style="width:125px" %)1x A4WD3-EP|(% style="width:125px" %)2x A4WD3-FA-L 59 -|Front Plate|Side Plate|Top Plate|Bottom Plate|Electronic Plate|Large Access 60 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FP.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-SP.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-TP.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-BP.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-EP.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-L.PNG"/}} 61 -|4x A4WD3-FA-S|4x A4WD3-FA-S-Clear|((( 62 -6x A4WD3-H-G-6IN 63 -)))| | | 64 -|Small Access|Transparent Access|Hatch Gasket| | | 65 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-S.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-FA-S-Clear.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-H-G-6IN.PNG"/}}| | | 68 +{{include context="NEW" reference="rover-kits.a4wd3-mecanum.a4wd3-mecanum-quickstart.WebHome"/}} 66 66 67 -(% style="max-width:750px" %) 68 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]] / [[doc:servo-erector-set-system.ses-mechanics.ses-nuts.WebHome]] / [[doc:servo-erector-set-system.ses-mechanics.ses-washers.WebHome]] / [[doc:servo-erector-set-system.ses-mechanics.ses-standoffs.WebHome]]** 69 -|(% style="width:125px" %)60x SHS-16|(% style="width:125px" %)54x SHS-17|(% style="width:125px" %)8x CPS-03|(% style="width:125px" %)4x SHS-19|(% style="width:125px" %)6x FHS-02|(% style="width:125px" %)6x SLN-05 70 -|SHS M3 x 5mm|SHS M3 x 10mm|Set Screw M3 x 10mm|M12 x 12mm|M5 x 12mm|M5 Lock Nut 71 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-16.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-17.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/CPS-03.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-19.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/FHS-02.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-nuts/WebHome/SLN-05.PNG"/}} 72 -|4x LW-01|10x AHS-22-BA|12x M5x55-SH| | | 73 -|M12 Lock Washer|Aluminum M3 x 10mm Standoff|M5 x 55mm| | | 74 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-washers/WebHome/LW-01.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-standoffs/WebHome/AHS-22.png"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/M5x55-SH.PNG"/}}| | | 70 += CAD Files = 75 75 76 -(% style="max-width:750px" %) 77 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-miscellaneous.WebHome]]** 78 -|(% style="width:125px" %)4x A4WD3-OS-16x8|(% style="width:125px" %)ORING-2MM|(% style="width:125px" %)1x A4WD3-H-6IN|(% style="width:125px" %)20x ZIP-TIE-7IN|(% style="width:125px" %)2x VCS-09|(% style="width:125px" %) 79 -|8mm Oil Seal|O-Ring Material|Marine 6" Hatch|Cable Ties 7"|Velcro Strap| 80 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/A4WD3-OS-16x8.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/ORING-2MM.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/A4WD3-H-6IN.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/ZIP-TIE.png"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-miscellaneous/WebHome/VCS-09.PNG"/}}| 72 +* [[attach:[email protected]]] 81 81 82 -(% style="max-width:750px" %) 83 -|(% colspan="6" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]** 84 -|(% style="width:125px" %)4x A4WD3-WH|(% style="width:125px" %)4x A4WD3-WA|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) 85 -|Wheel Hub|Wheel Adapter| | | | 86 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-tubing-hubs/WebHome/A4WD3-WH.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-tubing-hubs/WebHome/A4WD3-WA.PNG"/}}| | | | 74 += What's Included = 87 87 88 -(% style="max-width:750px" %) 89 -|(% colspan="6" %)**[[doc:servo-erector-set-system.motors.brushed-dc-motors.WebHome]]** 90 -|(% style="width:125px" %)4x 36GP-555-27-EN|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) 91 -|12V Gear Motor| | | | | 92 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/motors/brushed-dc-motors/WebHome/36GP-555-27-EN.PNG"/}}| | | | | 76 +(% style="max-width:775px" %) 77 +|(% colspan="7" style="width:25px" %)((( 78 +== **Base Kit** == 79 +))) 80 +|(% style="text-align:center; width:25px" %) |(% style="text-align:center; width:125px" %)**[[Rover Robots>>doc:rover-kits.WebHome]]**|(% colspan="4" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|(% rowspan="1" style="text-align:center; width:125px" %) 81 +| |(% style="width:125px" %)1x [[A4WD3-KT>>doc:rover-kits.a4wd3-frame-only.WebHome]]|(% style="width:125px" %)8x CPS-03|(% style="width:125px" %)4x SHS-19|(% style="width:125px" %)8x SHS-17|(% style="width:125px" %)12x M5x55-SH|(% style="width:125px" %) 82 +| |Frame Only|10mm x M3 Setscrew|12mm x M12|10mm x M3|M5 x 55mm| 83 +| |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/WebHome/A4WD3-KT.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/CPS-03.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-19.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/SHS-17.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-screws/WebHome/M5x55-SH.PNG"/}}| 84 +| |(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-washers.WebHome]]**|(% colspan="2" rowspan="1" style="text-align:center" %)**[[Tubing & Hubs>>doc:servo-erector-set-system.ses-mechanics.ses-tubing-hubs.WebHome]]**|(% colspan="2" rowspan="1" style="text-align:center" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-wheels.WebHome]]**|(% style="text-align:center" %) 85 +| |4x LW-01|4x A4WD3-WH|4x A4WD3-WA|2x A4WD3-W-ME-A|2x A4WD3-W-ME-B| 86 +| |M12 Lock Washer|8mm to 17mm Hex Hub|17mm Wheel Adapter|Mecanum A|Mecanum B| 87 +| |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-washers/WebHome/LW-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-tubing-hubs/WebHome/A4WD3-WH.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-tubing-hubs/WebHome/A4WD3-WA.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-wheels/WebHome/A4WD3-W-ME-A.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-wheels/WebHome/A4WD3-W-ME-B.PNG"/}}| 88 +| |**[[doc:servo-erector-set-system.tools.hex-keys.WebHome]]**| | | | | 89 +| |1x HEX-1.5mm|1x HEX-4mm|1x HEX-10mm| | | 90 +| |Hex Key 1.5mm|Hex Key 4mm|Hex Key 10mm| | | 91 +| |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-1.5mm.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-4mm.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/tools/hex-keys/WebHome/HEX-10mm.PNG"/}}| | | 93 93 94 -(% style="max-width:750px" %) 95 -|(% colspan="6" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]** 96 -|(% style="width:125px" %)WH-XT60-XT30-01|(% style="width:125px" %)4x SC-01|(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) |(% style="width:125px" %) 97 -|Power Harness|Servo Cable 12"| | | | 98 -|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/WH-XT60-XT30-01.PNG"/}}|{{lightbox image="https://www.robotshop.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SC-01.PNG"/}}| | | | 93 +(% style="max-width:775px" %) 94 +|(% colspan="7" %)((( 95 +== **Autonomous Kit** == 96 +))) 97 +|(% rowspan="1" style="text-align:center; width:25px" %) |(% colspan="3" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-wiring.WebHome]]**|(% style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-modules.WebHome]]**|(% style="text-align:center; width:125px" %)**[[Mot. Controllers>>doc:servo-erector-set-system.motors.motor-controllers.WebHome]]**|(% style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-electronics.ses-batteries.WebHome]]** 98 +| |(% style="width:125px" %)1x WH-XT60-XT30-01|(% style="width:125px" %)3x SC-01|(% style="width:125px" %)1x SEA-01|(% style="width:125px" %)1x [[BBU-01>>doc:servo-erector-set-system.ses-electronics.ses-modules.botboarduino.WebHome]]|(% style="width:125px" %)2x Sabertooth|(% style="width:125px" %)1x SL-LP-08 99 +| |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|BotBoarduino Microcontroller|2x12A Standard|4000mAh 3s LiPo Battery 100 +| |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/WH-XT60-XT30-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SC-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/SEA-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-modules/botboarduino/WebHome/BBU-01.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/motors/motor-controllers/WebHome/Sabertooth-2x12.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-batteries/WebHome/SL-LP-08.PNG"/}} 101 +| |(% style="text-align:center" %)**[[doc:servo-erector-set-system.ses-electronics.ses-chargers.WebHome]]**|(% style="text-align:center" %)**[[Wiring>>path:/info/wiki/lynxmotion/view/servo-erector-set-system/ses-electronics/ses-wiring/]]**| | | | 102 +| |1x B3AC|1x USBC-02| | | | 103 +| |LiPo Charger|USB Mini Cable| | | | 104 +| |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-chargers/WebHome/B3AC.png"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-wiring/WebHome/USBC-02.PNG"/}}| | | |