Wiki source code of A4WD3 Tracked

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

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1 [[image:A4WD3-TK-KT.PNG||height="350" width="350"]]
2
3 [[[[image:[email protected]||alt="LSS - Articulated Robotic Arm.jpg"]]>>https://www.robotshop.com/en/lynxmotion-a4wd3-rugged-tracked-rover-kit.html||rel="noopener noreferrer" target="_blank"]]
4
5 **Table of Contents**
6
7 {{toc/}}
8
9 = Description =
10
11 The Lynxmotion A4WD3 Rugged Rover is a general purpose mobile robotic platform. The frame is intended to be used in three configurations: 4WD; Mecanum & Tracked, and variations of each platform include without electronics (so developers can integrate their own parts); an RC version and microcontroller-based for autonomous or semi-autonomous use.
12
13 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.
14
15 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 rover to reach a top speed of around 3m/s (120”/s) without payload.
16
17 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.
18
19 = Features =
20
21 * 4x planetary geared DC motors (12V) with rear encoders
22 * Machined aluminum frame with G10 composite plates
23 * Shaft seals & solid rubber cord for water and dust resistance
24 * Internal mounting plate for electronics & battery
25
26 = Specifications =
27
28 **A4WD3 Wheeled**
29
30 * Max speed: ~~1.8m/s (71in/s)
31 * Weight: 6.8kg (15lbs)
32 * Rating: Water and dust resistant
33 * Chassis: Aluminum frame & G10 (fiberglass) Pannels
34 * Tracks: Two-part injection molded sprocket with G10 center and aluminum hubs with Tracks
35
36 **Motors**
37
38 * Output Shaft: D-Shape 8mm
39 * Operating Voltage: 12VDC
40 * Gears: Metal planetary gear
41 * Unload Speed: 170RPM (±10%)
42 * Loaded Speed: 145RPM (±10%)
43 * Torque: 11.5kg.cm (9.98lb.in)
44 * Gear Ratio: 51:1
45 * Current: ≤3A
46
47 **Encoder**
48
49 * Operating Voltage: 5V
50 * Signal: Square wave AB 90 deg,
51 * Pulse: 12 PPR
52 * Frequency: 800kHz
53
54 = Dimensions =
55
56 * Length: 422mm / 16.614"
57 * Width: 451.5mm / 17.776"
58 * Height: 202mm / 7.953"
59 * Ground clearance: 63mm / 2.48"
60
61 {{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-tracked/WebHome/ROVER-A4WD3-TRACKED-Dimensions.png" height="400"/}}
62
63 = User Guide =
64
65 {{include context="NEW" reference="rover-kits.a4wd3-tracked.a4wd3-tracked-quickstart.WebHome"/}}
66
67 = What's Included =
68
69 (% style="max-width:775px" %)
70 |(% colspan="7" style="width:25px" %)(((
71 == **All Kits** ==
72 )))
73 |(% style="text-align:center; width:25px" %) |(% style="text-align:center; width:125px" %)**[[Rover Robots>>doc:rover-kits.WebHome]]**|(% colspan="3" rowspan="1" style="text-align:center; width:125px" %)**[[doc:servo-erector-set-system.ses-mechanics.ses-screws.WebHome]]**|(% colspan="2" rowspan="1" style="text-align:center; width:125px" %)
74 | |(% 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" %)64x SHS-17|(% style="width:125px" %)12x SHS-18|(% style="width:125px" %)
75 | |Frame Only|10mm x M3 Setscrew|12mm x M12|10mm x M3|10mm x M5|
76 | |{{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/SHS-18.PNG"/}}|
77 | |(% 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-track-system.WebHome]]**|(% style="text-align:center" %)**[[A4WD3 Parts>>doc:rover-kits.a4wd3-frame-only.a4wd3-frame-only-quickstart.a4wd3-parts.WebHome]]**
78 | |4x LW-01|4x A4WD3-WH|4x A4WD3-WA|2x A4WD3-TRK|8x A4WD3-SPK|4x A4WD3-SPK-C
79 | |M12 Lock Washer|8mm to 17mm Hex Hub|17mm Wheel Adapter|Rubber Track|Sprocket Half|Sprocket Center
80 | |{{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-track-system/WebHome/A4WD3-TRK.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-mechanics/ses-track-system/WebHome/A4WD3-SPK.PNG"/}}|{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/rover-kits/a4wd3-frame-only/a4wd3-frame-only-quickstart/a4wd3-parts/WebHome/A4WD3-SPK-C.PNG"/}}
81 | |(% colspan="2" rowspan="1" style="text-align:center" %)**[[doc:servo-erector-set-system.tools.hex-keys.WebHome]]**| | | |
82 | |1x HEX-1.5mm|1x HEX-10mm| | | |
83 | |Hex Key 1.5mm|Hex Key 10mm| | | |
84 | |{{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-10mm.PNG"/}}| | | |
85
86 (% style="max-width:775px" %)
87 |(% colspan="7" %)(((
88 == **Autonomous Kit** ==
89 )))
90 |(% 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]]**
91 | |(% style="width:125px" %)1x WH-XT60-XT30-01|(% style="width:125px" %)2x 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" %)Sabertooth|(% style="width:125px" %)1x SL-LP-08
92 | |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|BotBoarduino Microcontroller|2x12A|4000mAh 3s LiPo Battery
93 | |{{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"/}}
94 | |(% 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/]]**| | | |
95 | |1x B3AC|1x USBC-02| | | |
96 | |LiPo Charger|USB Mini Cable| | | |
97 | |{{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"/}}| | | |
98
99 (% style="max-width:750px" %)
100 |(% colspan="7" %)(((
101 == **Radio Controlled Kit** ==
102 )))
103 |(% 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" %) |(% style="text-align:center; width:125px" %)[[**Mot. Controller**>>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]]**
104 | |(% style="width:125px" %)1x WH-XT60-XT30-01|(% style="width:125px" %) |(% style="width:125px" %)1x SEA-01|(% style="width:125px" %)1x T8S-BT|(% style="width:125px" %)Sabertooth|(% style="width:125px" %)1x SL-LP-08
105 | |Power Harness|Servo Cable 12"|Servo Extension Cable 6"|8 CH Remote with PPM Receiver|2x12A|4000mAh 3s LiPo Battery
106 | |{{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/wireless/WebHome/T8S-BT.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"/}}
107 | |(% style="text-align:center" %)[[doc:servo-erector-set-system.ses-electronics.ses-chargers.WebHome]]| | | | |
108 | |1x B3AC| | | | |
109 | |LiPo Charger| | | | |
110 | |{{lightbox image="https://wiki.lynxmotion.com/info/wiki/lynxmotion/download/servo-erector-set-system/ses-electronics/ses-chargers/WebHome/B3AC.png"/}}| | | | |
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