Wiki source code of A4WD3 Mecanum

Last modified by Eric Nantel on 2022/05/06 07:29

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1 [[image:A4WD3-ME-KT.PNG||width="350"]]
2
3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-a4wd3-rugged-mecanum-rover-kit.html||rel="noopener noreferrer" target="_blank"]]
4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
11 The Lynxmotion A4WD3 Mecanum Rover is a general purpose mobile robotic platform intended to be used in RC control or microcontroller-based for autonomous or semi-autonomous use. Each wheel is controlled independently to allow the robot to move in any 2D direction (i.e. omnidirectional drive). The wheels are large enough to be able to travel over bumps and obstacles, but the system is most suitable for flat surfaces, and it is best to avoid debris falling between the rollers.
12
13 More about Mecanum here: [[https:~~/~~/en.wikipedia.org/wiki/Mecanum_wheel>>https://en.wikipedia.org/wiki/Mecanum_wheel]]
14
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
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
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
21 = Features =
22
23 * 4x planetary geared DC motors (12V) with rear encoders
24 * 1x Set of four Mecanum wheels, hubs and adapters
25 * Machined aluminum frame with G10 composite plates
26 * Shaft seals & solid rubber cord for water and dust resistance
27 * Internal mounting plate for electronics & battery
28
29 = Specifications =
30
31 **A4WD3 Mecanum**
32
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
38
39 **Motors**
40
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
57 = Dimensions =
58
59 * Length: 372mm / 14.646"
60 * Width: 374.5mm / 14.774"
61 * Height: 152mm / 5.984"
62 * Ground clearance: 38.5mm / 1.516"
63
64 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-mecanum/WebHome/ROVER-A4WD3-MECANUM-Dimensions.png" height="400"/}}
65
66 = User Guide =
67
68 {{include context="NEW" reference="rover-kits.a4wd3-mecanum.a4wd3-mecanum-quickstart.WebHome"/}}
69
70 = What's Included =
71
72 (% style="max-width:775px" %)
73 |(% colspan="7" style="width:25px" %)(((
74 == **Base Kit** ==
75 )))
76 |(% 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" %)
77 | |(% 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" %)
78 | |Frame Only|10mm x M3 Setscrew|12mm x M12|10mm x M3|M5 x 55mm|
79 | |{{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"/}}|
80 | |(% 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" %)
81 | |4x LW-01|4x A4WD3-WH|4x A4WD3-WA|2x A4WD3-W-ME-A|2x A4WD3-W-ME-B|
82 | |M12 Lock Washer|8mm to 17mm Hex Hub|17mm Wheel Adapter|Mecanum A|Mecanum B|
83 | |{{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"/}}|
84 | |**[[doc:servo-erector-set-system.tools.hex-keys.WebHome]]**| | | | |
85 | |1x HEX-1.5mm|1x HEX-4mm|1x HEX-10mm| | |
86 | |Hex Key 1.5mm|Hex Key 4mm|Hex Key 10mm| | |
87 | |{{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"/}}| | |
88
89 (% style="max-width:775px" %)
90 |(% colspan="7" %)(((
91 == **Autonomous Kit** ==
92 )))
93 |(% 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]]**
94 | |(% 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
95 | |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|BotBoarduino Microcontroller|2x12A Standard|4000mAh 3s LiPo Battery
96 | |{{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"/}}
97 | |(% 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/]]**| | | |
98 | |1x B3AC|1x USBC-02| | | |
99 | |LiPo Charger|USB Mini Cable| | | |
100 | |{{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"/}}| | | |
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